Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback

Park, Hyeonjun; Park, Jaeheung; Lee, Dong-Hyuk; Park, Jae‐Han; Baeg, Moon-Hong; Bae, Ji‐Hun

doi:10.1109/tie.2017.2682002

Cited by 147 publications

(64 citation statements)

References 26 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: 78%

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: 78%

Improving 3D vision-robot registration for assembly tasks

Franaszek¹,

Cheok²,

Wyk³

et al. 2020

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“…Meeussen et al developed an approach to convert a contact path into a force-based task specification for executing the compliant path via hybrid position and force control [15]. Park et al developed a procedure and a controller that yield compliant behavior using neither force feedback nor passive compliance mechanisms to solve the peg-in-hole assembly problem [16].…”

Section: Related Work a Compliant Graspsmentioning

confidence: 99%

In-Hand Sliding Regrasp With Spring-Sliding Compliance and External Constraints

Shi¹,

Weng

Lynch

2020

IEEE Access

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We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring compliance maps contact forces to spring compressions, ensuring the fingers remain in contact, and sliding ''compliance'' governs the relationship between sliding motions and tangential contact forces. A spring-sliding compliant regrasp is achieved by controlling the finger anchor motions. We derive the fingertip sliding mechanics for multifingered sliding regrasps and analyze robust regrasping conditions in the presence of finger contact wrench uncertainties. The results are verified in simulation and experiment with a two-fingered sliding regrasp designed to maximize robustness of the operation.

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“…The simulation results in Table 2 indicate that the key components of the compliant device cause slight deformation and stress in the designed working conditions, have minimal influence on the performance of the compliant device and can satisfy the actual working requirements. FIGURE 6 shows the four states involved in the peg-in-hole assembly: contacting, searching, adjusting and inserting [24]. FIGURE 6(a) shows that the peg is in contact with the hole under a force that push the peg toward the hole.…”

Section: B Analysis Of the Proposed Mechanismmentioning

confidence: 99%

A Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center

Wang

Chen

et al. 2019

IEEE Access

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Many kinds of peg-in-hole assembly strategies for an industrial robot have been reported in recent years. Most of these strategies are realized by utilizing visual and force sensors to assist robots. However, complex control algorithms that are based on visual and force sensors will reduce the assembly efficiency of a robot. This issue is thoughtless in traditional assembly strategies but is critical to further improve the efficiency of assembly automation. In this work, a new assembly strategy that is based on a displacement sensor and a variable compliant center is proposed to improve robot performance in assembly tasks. First, an elastic displacement device for this assembly strategy is designed, and its performance is analyzed. The displacement signal generated by the displacement sensor is used to detect the contact state of the peg and hole and to guide the robot to adjust the posture. Second, an assembly strategy, including the advantages of passive compliance and active compliance, and a simple assembly control system are designed to improve the assembly efficiency. Last, the effectiveness of the proposed assembly method is experimentally verified using a robot with 6 degrees of freedom and a chamferless peg and hole with a small clearance (0.1 mm). The experimental results show that the assembly strategy can successfully complete the precision peg-in-hole assembly and assist the robot in accurate assembly in industrial applications.

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Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback

Cited by 147 publications

References 26 publications

Improving 3D vision-robot registration for assembly tasks

Improving 3D vision-robot registration for assembly tasks

In-Hand Sliding Regrasp With Spring-Sliding Compliance and External Constraints

A Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center

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