A novel peg-in-hole approach based on geometrical analysis for inclined uncertainty

Luo, Ren C.; Chang, Alexander H.; Li, Cheng

doi:10.1109/aim.2017.8014131

Cited by 16 publications

(11 citation statements)

References 7 publications

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“…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.…”

Section: Related Worksupporting

confidence: 79%

Improving 3D vision-robot registration for assembly tasks

Franaszek¹,

Cheok²,

Wyk³

et al. 2020

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Good registration between the coordinate frames of a perception system and a robot is important for the efficient operation of autonomous systems in vision-guided assembly lines. Rigid-body registration, which is based on the measurement of corresponding points (fiducials) in both frames, is a commonly used method. Noise and possible bias in the measured points degrade the quality of registration as gauged by the Target Registration Error (TRE). A method to restore the rigid body condition (RRBC) was recently developed to reduce TRE when the bias is larger than the noise. This was achieved by applying corrections to target locations in the vision sensor frame. This paper presents two procedures to improve the performance of the RRBC method by: 1) selecting the location of fiducials used for calculating correction to the target location and 2) selecting the correct arm configuration for fiducial from multiple configurations as calculated by inverse kinematics. Experiments performed with a motion tracking system and two different robot arms show that these two procedures can further reduce the Root Mean Square of TRE (RMST) to less than 20 % of the uncorrected RMST.

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Section: Related Worksupporting

confidence: 79%

Improving 3D vision-robot registration for assembly tasks

Franaszek¹,

Cheok²,

Wyk³

et al. 2020

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“…(2) Drive the slot part to a skew state and make sure the bottom edge is below the top surface of the key part (According to physical parameters and (6), h = 1 mm); (3) Move the slot part toward the key until contact and keep contact during the searching process; (4) Rotate the slot around the contact edge in a counterclockwise direction using the force control policy (10) until the slot is jam with the key; (5) Compliantly insert the slot into the key using force control policy (11).…”

Section: Hole Searching and Insertionmentioning

confidence: 99%

“…Tang built a three point contact model to estimate the tilt angle to complete autonomous error correction and insertion [10]. Luo proposed a geometrical model to improve the efficiency and robustness in the tight tolerance peghole insertion [11]. Some studies use the contact-model to avoid collisions and reduce jamming.…”

Section: Introductionmentioning

confidence: 99%

Robotic Assembly for Irregular Shaped Peg-in-Hole with Partial Constraints

Cheng

Li³

et al. 2021

Applied Sciences

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The tight tolerance peg-in-hole process brings great challenges for robotic assembly. Force control-based methods have been proposed to generate complex compliant behavior to deal with the shape and clearance variances. However, existing solutions are based on the assumption that the peg and hole parts are fixed during the assembly process and can absorb the contact force completely. For this purpose, customized fixtures have to be designed and utilized, which greatly affect the system’s deployment cost, time, and flexibility. Considering the fact that in an assembly, the parts are naturally related to each other, this paper studies the irregular-shaped peg-in-hole assembly problem with partial constraints. Firstly, geometric and force model are developed for the natural constraints between the parts; by analyzing the behavior of the partial constraint, a control policy is proposed to compensate the position errors and drive the parts to a stable equilibrium point; For the irregular-shaped parts, a multiple-stage searching method is developed to efficiently search for the real hole location; Finally, a switching force/position hybrid controller is designed to coordinate the alignment, searching and insertion processes. The method is implemented in a real platform. The experiment results verify the effectiveness of the proposed methods.

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“…Localization error in accurate robotic drilling was reduced to 0.1 mm and 0.2° using an external sensor and compliance compensation [20]. Even as these active control techniques (as well as other passive or hybrid compliance strategies [21][22][23]) enable the completion of tasks requiring high accuracy, they could still benefit from reduced localization error. For example, a larger uncertainty of the starting point for the search of the hole center using F/T sensors led to increased search time [24].…”

Section: Introductionmentioning

confidence: 99%

Using locally adjustable hand-eye calibrations to reduce robot localization error

Franaszek

Cheok

2020

SN Appl. Sci.

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Accurate pose of a robot end effector is required in many applications. Typically, this is achieved by robot calibration and then, registration of the robot frame to the world frame. In this paper, the registration of a poorly calibrated robot to a world frame was performed using many local hand-eye registrations and using one global registration. Both approaches were evaluated using a set of target poses. The use of the properly chosen local transformation applied to each target led to a tenfold reduction in the orientation and position error in comparison with a use of one global transformation. The median orientation error was reduced to 0.029° and the median position error was reduced to 0.221 mm which is approximately four times larger than robot specified position repeatability.

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A novel peg-in-hole approach based on geometrical analysis for inclined uncertainty

Cited by 16 publications

References 7 publications

Improving 3D vision-robot registration for assembly tasks

Improving 3D vision-robot registration for assembly tasks

Robotic Assembly for Irregular Shaped Peg-in-Hole with Partial Constraints

Using locally adjustable hand-eye calibrations to reduce robot localization error

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