Designing of damping control parameters for peg-in-hole considering cycle time

It is necessary to design appropriate parameters of force control in robotic assembly so as to achieve successful operations. Moreover, obtaining control parameters that can shorten the cycle time to perform operations is very important in industrial applications. In this paper, we propose a method to obtain control parameters through repetitive simulation of an assembly operation in order to estimate the cycle time because it is difficult to calculate the cycle time analytically. First, a simulator of a robotic peg-in-hole operation is developed based on preliminary experiments. We then formulate our proposed method as an optimization problem and solve the problem using the simulator. Finally, results of the optimization are presented.