Assembly strategy study on the elastic deformable peg in hole

Yan-chun, Xia; Bai, Yuewei; He, Yinglong

doi:10.1109/icindma.2010.5538391

Cited by 4 publications

(1 citation statement)

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“…For flexible parts, contact deformation and stick-slip friction become apparent and can jeopardize the successful localization of the hole [8], [9]. Furthermore, unlike rigid parts, the force dynamics of a flexible parts is non-linear and more complex due to flexing [10]- [12]. Hence, we also develop a generic high-level forcecontrolled peg-in-hole assembly strategy that is feasible for both rigid and flexible parts.…”

Section: A High-level Assembly Strategymentioning

confidence: 99%

Robotic Assembly across Multiple Contact Stiffnesses with Robust Force Controllers

Lee,

Pham

2020

Preprint

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Active Force Control (AFC) is an important scheme for tackling high-precision robotic assembly. Classical force controllers are highly surface-dependent: the controller must be carefully tuned for each type of surface in contact, in order to avoid instabilities and to achieve a reasonable performance level. Here, we build upon the recently-developed Convex Controller Synthesis (CCS) to enable high-precision assembly across a wide range of surface stiffnesses without any surface-dependent tuning. Specifically, we demonstrate pegin-hole assembly with 100 micron clearance, initial position uncertainties up to 2 cm, and for four types of peg and hole materials -rubber, plastic, wood, aluminum -whose stiffnesses range from 10 to 100 N/mm, using a single controller.

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Section: A High-level Assembly Strategymentioning

confidence: 99%