Technology for robotic mechanical assembly: Force-directed insertions

Definition of robotic primitives for insertions is an essential step in achieving a truly flexible manufacturing environment. We present techniques based on active compliance, implemented with hybrid force-position control, that are capable of inserting a wide variety of shaped pegs. We analyze the forces encountered during the insertions to determine what classes of shapes these techniques will consistently insert. The analysis also gives guidance in selecting parameters of these techniques for specific shapes. These techniques provide a significant step toward simplifying the programming of a flexible manufacturing environment.