An insertion skill using pseudo contact point monitoring - in a case where error of position and configuration of hole is not neglected -

摘要

The authors introduced pseudo contact point monitoring technique as a contact condition detecting method. This paper presents an insertion skill using the pseudo contact point monitoring technique in a condition where a peg is slanted from the hole axis and does not touch the chamfer of the hole. This skill is achieved by the posture and position adjustments of the peg.