Evaluation of task-performance of a manipulator for a peg-in-hole task

The paper deals with kinematic evaluation of task-performance of a manipulator for a peg-in-hole task. First, a condition of the manipulator for avoidance of jamming on the chamfer of a hole is derived. Secondly, strict conditions for the peg-in-hole task are obtained by adding the condition to Whitney's conditions. Thirdly, a suitability measure of the manipulator for avoidance of jamming on the chamfer (MAJC) is proposed. Finally, it is shown that successful assembly should be guaranteed from not only Whitney's conditions but also the condition for avoidance of jamming on the chamfer and that task-performance of a manipulator should be evaluated on the base of not only a dexterity measure for assembly (DMA) but also the MAJC.