Laser tracker-based control for peg-in-hole assembly robot

Abstract

The peg-in-hole insertion is the most common and often one of the most important procedures in largescale equipment manufacturing. However, in the process of peg-in-hole assembly operation using robot, the parts may not be assembled correctly or even be damaged because of the deviation causing by the inaccuracy of the assembly robot. To overcome this problem, this paper presents a kind of large-scale peg-in-hole robotic assembly system based on laser tracker and its corresponding control strategy. The simulation and analysis are also demonstrated to verify the system efficient.Shuntao Liu, is with AVIC Chengdu Aircraft Industrial

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

“…For some of them, the vision sensor was introduced to measure the relative pose between the peg and hole. For example, Liu et al [128] used the laser tracking system (Figure 16) to accurately measure the relative pose of the peg and the hole, and compensated the pose deviation based on the Jacobian matrix between attitude deviation and joint angles. However, the measurement error of the laser tracking system needs to be analyzed and compensated through several experiments, which limits the practical application of the proposed system.…”

Research on robot shaft hole assembly method based on force sensor

“…They captured contact images through two cameras at different positions, estimated the contact state using the powerful computing power of a computer, and adopted corresponding assembly strategies through a servo system. Liu et al [3] accurately detect the posture deviation between the part and the base through a laser measuring instrument, and calculate the velocity Jacobian matrix of the two based on the obtained deviation amount and the robot joint position to perform posture compensation; Due to the need to evaluate and analyze the accuracy of laser instruments before starting the experiment, it increases the difficulty of their use in assembly applications.…”