The development of a practical dexterous assembly robot system without the use of force sensor

In this paper, we propose a practical dexterous assembly robot system without the use of the force sensor. This system is composed of skill based control architecture and executes complex tasks such as assembly of RV gear by combining some basic skill sets. Among these skill sets, gear mating skill generating two kinds of characteristic rotary motions simultaneously is the most important skill for achieving dexterous assembly tasks. The goal state recognition of this skill is made by using only internal position data of a robot. This approach without using force sensor has made this system low priced. The effectiveness of this system is demonstrated through MOTOMAN RV gear unit assembly tasks