A precision inserting operation for chamferless parts by using Fuzzy control.

摘要

The present paper deals with a precision inserting operation for chamferless parts under ambiguous positional information by using Fuzzy control. The position of parts is recognized by introducing two Fuzzy sets. One is characterized by the membership function of the search areas, the other is by the one of the hole center position. The system consists of the SCARA robot, a force sensor and the RCC device. The matching with two Fuzzy sets decides the ranking of search areas. The membership function of the hole center position is changed by past information of a precision inserting operation. After deciding the search area according to the ranking, the robot performs the assembly by using force sensor. The usefulness in a precision inserting operation is shown by experimental results.