2P1-K03 スナップジョイントを有するパーツの力制御の切り替えに基づく組み立て(動作計画と制御の新展開)

Abstract

This paper proposes a force controller which assembles parts with snap joints. We use the control basis approach where it is composed of elementary position/force controllers. We first classify the snap joint into three categories. Focusing on the parts having the cantilever type snap joints, we propose the pivot approach where, after the edge of the female part contacts the male part, the female part rotates until all the snap joints contact the male part. The effectiveness of the proposed method is confirmed through experimental results.