Compliance Planning For Dextrous Assembly Tasks Using Multi-Fingered Robot Hands

摘要

This paper deals with compliance planning for effective peg-in-hole and peg-outhole tasks using multi-fingered robot hands without inter-finger coupling. We first observe the fact that some of coupling stiffness elements of the spatial stiffness matrix cannot be planned arbitrary. Then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in/out-hole tasks. It is clearly shown that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Thus, the operational compliance characteristics should be carefully specified and the location of compliance center should be planned on-line for effective assembly and disassembly tasks. Simulation results are included to verify the feasibility of the analytic results.