Force Guidance Function (Peg In Hole)

The following describes how to operate "Peg In Hole" tasks that probes a hole using the cylinder while contacting the surface in spiral trajectory.

Prepare a workpiece by yourself.

Workpiece used in the picture is a training kit. If you need a drawing, please contact the supplier of your region.
The specifications are as follows.

Cylinder on end effector side	Diameter: 20mm, Length 40mm
Hole side Diameter	approx. 20mm, C plane: approx. 7mm

If you do not have a workpiece or a tool as shown above, you can try it easily by using a cylindrical wood, cork, and a plastic bottle. However, do not use a workpiece that has risks when it brakes such as a glass. Broken pieces will be scattered and may result in injury. Also, pay attention to surroundings when you proceed this tutorial.

CAUTION

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The parameters described in the example on the following pages are reference values.

This tutorial uses relatively stable parameters, but depending on the operating environment, the operation may not be successful or the motion may be vibratory. Note that adjusting the parameters may be required. note that

Slow, stable parameters are used for convenience of explanation. For high-speed operation, adjusting the parameters is required.