Contact Force/Torque Prediction and Analysis Model for Large Length-diameter Ratio Peg-in-hole Assembly

Wang, Yuchen; Wang, Peng; Liu, Changchun; Hao, Gaoming; Xiong, Zhao; Quan, Xusong; Yuan, Xiaodong; Zhang, Hai

doi:10.1109/robio.2018.8665115

Cited by 11 publications

(3 citation statements)

References 12 publications

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“…However, with poor lighting and limited space, the visual system may be ineffective. Using inputs from a force-torque sensor, experimental studies of the assemblability of shaft-sleeve type joints during robotic assembly are described in works [15][16][17]. In the study [18][19][20], mathematical models based on information from the force-torque sensor were provided at the contact stages of shaft-sleeve type joints during the assembly of robots.…”

Section: Introductionmentioning

confidence: 99%

Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts

Vartanov,

Nguyen,

Kogan

et al. 2024

Preprint

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When developing robotic assembly technology, it is necessary to use intelligent algorithms that control the assembly process online. One of the tasks that has been little studied so far is the assembly of cylindrical non-rigid parts. Mathematical models of the coupling stages during robotic assembly have been developed, which are necessary for the identification of the signals of the force-torque sensor. The obtained analytical solutions make it possible to determine the conditions for the occurrence of jamming of the non-rigid shaft during two-point contact during the coupling of the shaft with a rigid sleeve. The obtained values of deflections and angles of rotation allow us to correct the movement of the output link of the robot during the assembly operation. A mathematical model is presented for solving the problem of determining the current contact state (CS) during assembly using the support vector machine (SVM) method when obtaining information about the position coordinates by the control system of an industrial robot and forces from a force-torque sensor. The algorithm was tested on an IRB-140 industrial robot with an IRC5 controller equipped with an FTN-AXIA80 SI500-20 Ethernet force-torque sensor from Schunk.

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Section: Introductionmentioning

confidence: 99%

Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts

Vartanov,

Nguyen,

Kogan

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…Based on an ABB IRB1200 robot, Zhang et al (2017) developed fuzzy force control strategies for the rigid dual peg-in-hole assembly. Based on an industrial robot YASKAWA-MH12 with accuracy of 6 0.08 mm, Wang et al (2018) proposed a contact force/torque (F/T) predication and analysis model for the large lengthdiameter ratio peg-in-hole assembly task. However, in some assembly tasks using cable-driven serial robot with compliant wrist (CDSR-CWs), as shown in Figure 1, these existing research results are no longer applicable because the CDSR-CW's motion accuracy and stiffness are far inferior to the articulated robot (Sen et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, most existing peg-in-hole controllers is based on the F/T sensor mounted on the wrist (Kim et al, 2014;Shirinzadeh et al, 2011;Luo et al, 2017;Zhang et al, 2017;Wang et al, 2018;Zou et al, 2019;Jing et al, 2018; or the environment (Lou and Di, 2020). However, these solutions have the disadvantage of high cost (Bruzzone et al, 2002).…”

Section: Introductionmentioning

confidence: 99%

A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions

Lou

Quan

Lin

et al. 2021

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Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through a CW. It is required that the controller does not rely on any external sensors such as 6-axis wrist force/torque (F/T) sensor, and only the compliance matrix’s estimated value of the CW is known. Design/methodology/approach First, the peg-in-hole assembly system based on a CDSR-CW is analyzed. Second, a characterization algorithm using micro cable tensions and joint positions to express the elastic F/T at the CW is established. Next, under the premise of only knowing the compliance matrix’s estimate, a peg-in-hole controller based on force/position hybrid control is proposed. Findings The experiment results show that the plug contact F/T can be tracked well. This verifies the validity and correctness of the characterization algorithm and peg-in-hole controller for CDSR-CWs in this paper. Originality/value First, to the authors’ knowledge, there is no relevant work about the peg-in-hole assembly task using a CDSR-CW. Besides, the proposed characterization algorithm for the elastic F/T makes the peg-in-hole controller get rid of the dependence on the F/T sensor, which expands the application scenarios of the peg-in-hole controller. Finally, the controller does not require an accurate compliance matrix, which also increases its applicability.

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Mathematical Model of the Coupling Process of the “Shaft-Sleeve” Connection Using an Active Adaptation Tool for Three-Point Contact

Vartanov

Nguyễn

Nguyen

2022

Lecture Notes in Mechanical Engineering

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Contact Force/Torque Prediction and Analysis Model for Large Length-diameter Ratio Peg-in-hole Assembly

Cited by 11 publications

References 12 publications

Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts

Intelligent control algorithm for industrial robots when performing the assembly operation of cylindrical non-rigid parts

A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions

Mathematical Model of the Coupling Process of the “Shaft-Sleeve” Connection Using an Active Adaptation Tool for Three-Point Contact

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