Method for inserting an object into an object-receiving area using a robot manipulator

Abstract

A method and robot for inserting an object into an object-receiving area using an actuator-driven robot manipulator of a robot, wherein the robot manipulator has an effector at its distal end, designed to receive and/or grip the object, and wherein an inserting trajectory T is defined for the object-receiving area and the object to be inserted, and a target orientation O({right arrow over (R)}) of the object to be inserted is defined along the inserting trajectory T for locations {right arrow over (R)}of the inserting trajectory T including the following operations: receiving/gripping the object using the effector, moving the object using the robot manipulator along the inserting trajectory {right arrow over (T)} into the object-receiving area while continuously performing predetermined tilting motions of the object that are closed and cyclical motions relative to the target orientation O({right arrow over (R)}) via a force-regulated and/or impedance-regulated control of the robot manipulator until a specific threshold condition G1 for a torque acting on the effector and/or a force acting on the effector is reached or exceeded, and/or a provided force/torque signature and/or a position/speed signature on the effector is reached or exceeded, which indicate(s) that the object has been completely successfully inserted into the object-receiving area within specified tolerances; releasing the object by the effector; and moving the effector away from the object-receiving area along the exit trajectory A using the robot manipulator.