Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application

Abdullah, Mustafa W.; Roth, Hubert; Weyrich, Michael; Wahrburg, Jürgen; Pluemworasawat, Padipat

doi:10.1051/matecconf/20152804003

Cited by 8 publications

(1 citation statement)

References 10 publications

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“…What is more, Sigitas et al investigated the high-speed assembly process with vibrations, and they found that the vibrations can be helpful for avoid jamming state, which is useful for finishing the assembly task smoothly (Kilikevicius and Baksys, 2011). Abdullah et al (2015a, 2015b) combined a vision sensor with a force sensor to help the robot successfully assemble. Furthermore, Son, 2001 presented a neural network control strategy for avoiding jamming during part insertion, which was based on measured force and moment data.…”

Section: Introductionmentioning

confidence: 99%

Force control for a rigid dual peg-in-hole assembly

Zhang

Shi

et al. 2017

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Purpose This paper aims to realize the automatic assembly process for multiple rigid peg-in-hole components. Design/methodology/approach This paper develops fuzzy force control strategies for the rigid dual peg-in-hole assembly. Firstly the fuzzy force control strategies are presented. Secondly the contact states and contact forces are analyzed to prove the availability of the force control strategies. Findings The rigid dual peg-in-hole assembly experimental results show the effectiveness of the control strategies. Originality/value This paper proposes fuzzy force control strategies for a rigid dual peg-in-hole assembly task.

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Section: Introductionmentioning

confidence: 99%

Force control for a rigid dual peg-in-hole assembly

Zhang

Shi

et al. 2017

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Improving Automated Insertion Task in Robotics by Reducing Registration Error

Cheok¹,

Franaszek²,

Wyk³

et al. 2021

IFIP Advances in Information and Communication Technology

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A peg-in-hole operation is representative of common tasks performed in assembly lines by robots. It requires registration of the coordinate frame where a part resides to the robot frame where it is acted upon. Poor registration causes misalignment of the peg and the hole which will result in a failed insertion of the peg. In this study, the dependence of the outcome of the insertion task on the quality of registration is investigated. It was shown in earlier studies that Restoring Rigid-Body Condition (RRBC) leads to decreased target registration error. This study quantifies the improvement in the Pass/Fail rate when the target registration error is reduced for a given peg-hole tolerance. A robot arm operated in position control mode was used to perform the insertion without performing any search algorithms or force/torque sensing. Results show that use of the RRBC method yielded substantial reduction in failed insertions, especially for tighter tolerances.

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