| Budget Amount *help |
¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000)
Fiscal Year 2013: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2012: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2011: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
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| Outline of Final Research Achievements |
In this research, we consider the assembly problem of parts with elasticity. When a robot manipulator assemble two plastic parts, the snap joints are usually equipped with one of the parts. To assemble such parts, we have to consider the elastic deformation of the snap joints. For this assembly problem, we propose a method to construct the contact state transition graph based on the physical simulation of assembly. We also define the action states of assembly and propose a assembly controller realized by switching multiple force controllers. We furthermore propose a method for identifying the assembly state based on the force sensor information.
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