Precision Peg-in-Hole Assembly Strategy Using Force-Guided Robot
- 10.2991/icmmita-15.2015.260How to use a DOI?
- Precision assembly; circle shaft and hole; robotic assembly; force-guided.
Position error is inevitable in robotic precision assembly task, so force sensor is needed to get information of the environment and guide the motion of robot. In order to describe assembly task clearly, we divided it in three phases: 1.Move to a certain position; 2.Move the shaft to the exactly top of the hole; 3. Put the shaft down in the hole. Phase1 is easy because the position of the hole and shaft is already known. In Phase2, we divide the contact area in sixteen regions, and detect the regions using KD-tree method. After detecting the regions, a coordinate search path is followed in finding the position of the hole. In phase3, we fine adjust the shaft on the X-Y plane according to the value of and , and put the shaft down in the hole. In order to validate the strategy, experiments are conducted on a Cartesian coordinate robot. Multiple position error is considered and the strategy perform well.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yin Xu AU - Yue Hu AU - Lei Hu PY - 2015/11 DA - 2015/11 TI - Precision Peg-in-Hole Assembly Strategy Using Force-Guided Robot BT - Proceedings of the 2015 3rd International Conference on Machinery, Materials and Information Technology Applications PB - Atlantis Press SP - 1406 EP - 1412 SN - 2352-538X UR - https://doi.org/10.2991/icmmita-15.2015.260 DO - 10.2991/icmmita-15.2015.260 ID - Xu2015/11 ER -