Chamferless part-mating using 6-axis force sensor

6축 힘 감지기를 사용한 챔퍼(chamfer)가 없는 부품의 조립 작업

Active part mating algorithm using 6-axis force sensor data for the assembly automation and/or teletobotics is presented and experimented. Parts to be mated are cylindrical and have no chamfers. There are basically two modes. One is the normal mode with only a positional error, the other is the tilted mode with an orientational error in addition to a positional error. The used algorithm distinguishes a contact external to the hole from that of internal to the hole in order to perform part-mating in spite of the relative tilt between the hole and the peg.