Evaluation of task-performance of a manipulator for a peg-in-hole task

Author

Hara, Kei ; Yokogawa, Ryuichi ; Kai, Yutaka

Author_Institution

Dept. of Mech. Eng., Doshisha Univ., Kyoto, Japan

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

600

Abstract

The paper deals with kinematic evaluation of task-performance of a manipulator for a peg-in-hole task. First, a condition of the manipulator for avoidance of jamming on the chamfer of a hole is derived. Secondly, strict conditions for the peg-in-hole task are obtained by adding the condition to Whitney´s conditions. Thirdly, a suitability measure of the manipulator for avoidance of jamming on the chamfer (MAJC) is proposed. Finally, it is shown that successful assembly should be guaranteed from not only Whitney´s conditions but also the condition for avoidance of jamming on the chamfer and that task-performance of a manipulator should be evaluated on the base of not only a dexterity measure for assembly (DMA) but also the MAJC

Keywords

Jacobian matrices; assembling; industrial manipulators; manipulator kinematics; Whitney´s conditions; assembly; dexterity measure; jamming; kinematic evaluation; manipulator; peg-in-hole task; suitability measure; task-performance; Assembly; Displays; Force measurement; Friction; Graphics; Jamming; Kinematics; Manipulators; Mechanical engineering; Motion measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620102

Filename

620102