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Optimum Connector Insertion Algorithm With Compliant Control

IP.com Disclosure Number: IPCOM000099328D
Original Publication Date: 1990-Jan-01
Included in the Prior Art Database: 2005-Mar-14
Document File: 2 page(s) / 52K

Publishing Venue

IBM

Related People

Kida, H: AUTHOR [+2]

Abstract

Disclosed is an optimum connector insertion algorithm. This algorithm is a useful method for pin connector insertion, detecting resistant force, searching and adjusting the pin and hole correct position, learning a hole position from previous insertion, to shorten insertion time. Continued

This text was extracted from an ASCII text file.
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Optimum Connector Insertion Algorithm With Compliant Control

       Disclosed is an optimum connector insertion algorithm.
This algorithm is a useful method for pin connector insertion,
detecting resistant force, searching and adjusting the pin and hole
correct position, learning a hole position from previous insertion,
to shorten insertion time. Continued

      This algorithm consists of two parts.  The first part is the
insertion part with compliant parameter change.  The second part is
the start position modification part.  At the first part, the
insertion direction and force are controlled by the compliant
parameters which correspond with the resistant force from the object,
and the pin and hole correct position are searched.  Completion of
the insertion is judged by resistant force from the object and
insertion distance.  After the insertion at the second part, the next
start position is modified from the previous position information of
insertion to optimum the insertion time.

      The algorithm is shown in Fig. 1, and includes the following
steps.
    (1)  Adjust insertion direction with hard compliance.
    (2)  Adjust position using whirlpool search with soft compliance,
as shown in Fig. 2

      (3)  Insert a connector with soft compliance until resistant
force reaches a threshold value.

      (4)  Measure and check as to whether the distance reaches a
threshold value, to confirm the completion of the insertion.

      (...