Title :
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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620102
