Precision insertion by heuristic search with fuzzy pattern matching

The present paper deals with precision insertion for chamferless parts with uncertain positional information by heuristic search. The heuristic search is constructed of fuzzy pattern matching between fuzzy sets of search areas and one of the hole center positions. Fuzzy pattern matching evaluates the value of the heuristic function. The search of the hole is started in the search area having the highest value of the heuristic function. RCC (remote center compliance) and a force sensor are used in the search. RCC finely modifies the position of the peg and the force sensor detects whether the insertion has succeeded. The usefulness of this method is shown by experimental results.