Study on dual peg-in-hole insertion using of constraints formed in the environment

Abstract

Purpose The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two- or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space. Design/methodology/approach In this paper, the authors handle the insertion problem by converting it into several sub-problems based on the attractive region formed by the constraints. The existence of the attractive region in the high-dimensional configuration space is first discussed. Then, the construction of the high-dimensional attractive region with its sub-attractive region in the low-dimensional space is proposed. Therefore, the robotic insertion strategy can be designed in the subspace to eliminate some uncertainties between the dual pegs and dual holes. Findings Dual peg-in-hole insertion is realized without using of force sensors. The proposed strategy is also used to demonstrate the precision dual peg-in-hole insertion, where the clearance between the dual-peg and dual-hole is about 0.02 mm. Practical implications The sensor-less insertion strategy will not increase the cost of the assembly system and also can be used in the dual peg-in-hole insertion. Originality/value The theoretical and experimental analyses for dual peg-in-hole insertion are proposed without using of force sensor.

Improving 3D vision-robot registration for assembly tasks

“…Similar observations were reported by Liu and Carpin who showed that the convergence time for grasp planning was positively correlated while the probability of force closure was negatively correlated with increasing positional uncertainty [30]. Therefore, these active control techniques, as well as other, passive or hybrid compliance strategies [31][32][33][34][35], will still benefit from improved accuracy of the object's pose in the robot's frame.…”

Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly Strategies

“…Researchers have made efforts to use contact model based strategies to solve a wide range of peg-in-hole assembly problems with special requirements and high complexity in autonomous industrial manufacturing. For instance, the best methods for performing high-precision assembly [2] [12] [13] and large-scale component assembly [14] [4] [3] with the limited sensors have been widely investigated. Additionally, methods for deriving an assembly control strategy that can cope with complicated multiple peg-in-hole assembly flexibly has attracted considerable attention from researchers [1] [15] [16].…”

“…R OBOTIC assembly as the essential components of industrial applications has been studied for a long time. In this work, we look at the most common problem of robotic assembly: peg-in-hole assembly, which is the basis of a wide range of component assemblies [1] [2]. Robotic peg-in-hole assembly has been extensively researched and applied in various fields from large-scale object assembly, such as aviation components [3] [4], engines [5] and windshields assembly to small-scale components, such as mold casting manufacturing [6], electronic components [7] and even microproduct [8] assembly.…”

Smooth transition adaptive hybrid impedance control for connector assembly

“…The robotic peg in hole application has been widely studied (Su et al , 2017). The most important aspect is to deal with the misalignment between mating connectors.…”