Primitives for robotic mechanical assembly: Force directed insertions

Abstract

Definition of robotic primitives for insertions is an essential step in achieving a truly flexible manufacturing environment. We present techniques based on active compliance implemented with hybrid force-position control capable of inserting a wide variety of shaped pegs. Analysis of this method indicates that it will work on arbitrarily shaped convex pegs, and may frequently work on non-convex pegs as well. The technique presented here provides a significant step toward simplifying the programming of a flexible manufacturing environment.