Insertion of Long Peg into Tandem Shallow Hole Using Search Trajectory Generation

In this paper, we propose a method to insert a long peg into a tandem shallow hole using search trajectory generation without force feedback. The use of RCC (Remote Center Compliance) is a possible solution for robotic assembly, but it is no longer useful when the remote center cannot be set correctly. We focus a task to insert a peg into the tandem shallow hole as an example that cannot be accomplished by robots using RCC devices. For this task, firstly, a new peg insertion method using search trajectory generation is proposed to continuously adjust the peg position. Secondly, a floating unit is made in order to reduce the number of positions to be corrected. And then, a method to estimate an indication of the insertion axis and a method to revise the inclination in order to avoid a jamming phenomenon are also proposed. Finally, the effectiveness of these methods is verified by an experiment.