Estimation of connector insertion state based on phase spectrum of waves transmitted between robot fingers

This paper proposes a method for estimating the insertion state of a connector based on the measurement of vibration waves transmitted between robot fingers through the grasped connector. The change in the phase spectrum derived from generated and detected vibration waves between the fingers of a parallel two-fingered robot hand is used for the estimation. Experimental results verify that the connector insertion state can be estimated from the change in the phase spectrum derived from detected vibration waves by applying the fast Fourier transform. In the proposed method, the normal grasping motion serves as the sensing motion. The results will be useful for expanding the application range of assembly work by a robot hand-arm system.