Analysis of Impact in Robotic Peg-in-Hole Assembly

Liao, Hsin-Te; Leu, Ming C.

doi:10.1017/s026357479800040x

Cited by 35 publications

(6 citation statements)

References 26 publications

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“…Considering a redundant manipulator, its null space motion was optimized on the basis of instantaneous collision dynamics modeling to minimize the resulting impulsive forces. In [21], a method for the analysis of the initial impact dynamics for a robotized peg-in-hole task has been proposed. A general formulation of the impact equation is achieved by means of the Lagrange impact modeling.…”

Section: ) Impact Controlmentioning

confidence: 99%

Sensorless Optimal Switching Impact/Force Controller

et al. 2021

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Intelligent interaction control is required in many fields of application, in which different operative situations have to be faced with different controllers. Being able to switch between optimized controllers is, indeed, of extreme importance to maximize the task performance in the different operative conditions (i.e., free-space motion and contact), especially when considering sensorless robots. To deal with the proposed context, a sensorless optimal switching impact/force (OSIF) controller is proposed. The low-level robot control is composed of an inner joint position controller, fed by an outer Cartesian impedance controller with a reference position. The estimation of the external wrench is implemented by means of an Extended Kalman Filter (EKF). The high-level controller (feeding the Cartesian impedance controller with the setpoint) is composed of an optimized impact controller (LQR-based controller), an optimized force controller (SDREbased controller), and a continuous switching mechanism (Fuzzy Logic-based). In addition, the output of the switching mechanism is used to adapt the Cartesian impedance control parameters (i.e., stiffness and damping parameters). Experimental tests have been performed on a Franka EMIKA panda robot to validate the proposed controller. Obtained results show the capabilities of the OSIF controller, being able to detect task phase transitions while satisfying the target performance.

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Section: ) Impact Controlmentioning

confidence: 99%

Sensorless Optimal Switching Impact/Force Controller

et al. 2021

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“…Such actions typically take the form of mating operations, specifically inserting and meshing (e.g., interleaving gear teeth) components into an assembled part. The canonical assembly task is the peg-in-hole insertion, which has also served as the benchmark for demonstrating assembly capabilities of robot control algorithms (e.g., Liao and Leu (1998) and Newman et al (2001)). …”

Section: Robotic Assemblymentioning

confidence: 99%

Multi-Robot Assembly Strategies and Metrics

2018

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We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

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“…Fei et al studied the assembly process of one or more pinin-hole with a robot, while the positional errors of the two parts were not studied [4,5,6]. Some scholars calculated the probability of successful assembly with specific parameters, such as diameters of pins and holes, as well as positional tolerances [7].…”

Section: Introductionmentioning

confidence: 99%