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Abstract. This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole's edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.

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The experiment carried in this paper aims to study the feasibility of controlling an industrial robot to carry Peg-in-Hole assembling task using what called a Force/Torque Map. This type of control is based on real-time F/T sensor data during contact between the peg and the hole. The F/T Map presents the data acquired during previous attempts of the assembly task.

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