Robot Task of Pin Insertion to a Hole without Chamfering and with Small Clearance Using Fuzzy Control

Abstract

Almost the robot tasks are performed by the teaching playback method. This method is based on the considerably high repeatability of the robot arm, thus the environment is required to be strictly constant. However, a human can achieve the task such as assembly with adapting to the environmental change. In this research, the pin insertion task to a hole without chamfering and with small clearance is focused on. And this pin insertion task is aimed to be achieved by imitating a human motion, extracting and defining the rule using membership functions, and executing the task based on fuzzy control.