AN INSERTION STRATEGY BASED ON FORCE/POSITION HYBRID CONTROL

Insertion is a typical robot manipulation. There exist lots of such kind of work in industrial robot assembly. However, the ratio of successful insertion with small clearance ratio is not high due to the existence of position error. This paper first analyses the reason of failure insertion, and proposes an insertion strategy with high success ratio depending on force/position hybrid control. Experiments prove the validity of the strategy.