Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

Abstract

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.