Compliant Peg-in-Hole Assembly Using Partial Spiral Force Trajectory With Tilted Peg Posture

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

doi:10.1109/lra.2020.3000428

Cited by 33 publications

(19 citation statements)

References 17 publications

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“…Compliance has been found to be a useful property in performing peg-inhole type assembly motions already in the 1980s [115] and similar research on peg-in-hole compliance is still ongoing [64]. In the 90's research on compliant assembly was centered around fixtures, devices for holding workpieces during assembly.…”

Section: Workpiece Alignmentmentioning

confidence: 99%

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A Survey of Robot Manipulation in Contact

Suomalainen¹,

Karayiannidis²,

Kyrki³

2021

Preprint

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Section: Workpiece Alignmentmentioning

confidence: 99%

“…Force control planning [62,43,59,201,140,189,193,117,118,68,75,202,64]. Contact for localization [203,63,204,205,206,68,207…”

Section: Learning and Planning Of Manipulation In Contactmentioning

confidence: 99%

A Survey of Robot Manipulation in Contact

Suomalainen¹,

Karayiannidis²,

Kyrki³

2021

Preprint

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“…The positioning error can be described as the sum of positioning inaccuracies during the initial actions of the process [34]. This can be considered a random positioning error that in normal circumstances would cause a fatal error in an automated sequence or rejection of the assembled product.…”

Section: Positioning Errormentioning

confidence: 99%

Dual-Arm Peg-in-Hole Assembly Using DNN with Double Force/Torque Sensor

et al. 2021

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Assembly tasks executed by a robot have been studied broadly. Robot assembly applications in industry are achievable by a well-structured environment, where the parts to be assembled are located in the working space by fixtures. Recent changes in manufacturing requirements, due to unpredictable demanded products, push the factories to seek new smart solutions that can autonomously recover from failure conditions. In this way, new dual arm robot systems have been studied to design and explore applications based on its dexterity. It promises the possibility to get rid of fixtures in assembly tasks, but using less fixtures increases the uncertainty on the location of the components in the working space. It also increases the possibility of collisions during the assembly sequence. Under these considerations, adding perception such as force/torque sensors have been done to produce useful data to perform control actions. Unfortunately, the interaction forces between mating parts produced non-linear behavior. Consequently, machine learning algorithms have been considered an alternative tool to avoid the non-linearity. In this work we introduce an assembly strategy for an industrial dual arm robot based on the combination of a discrete event controller and Deep Neural Networks (DNN) to solve the peg-in-hole assembly. Our results show the difference between the use of DNN with one and with two force/torque sensors during the assembly task and demonstrate a 30% increase in the assembly success ratio when using a double force/torque sensor.

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“…According to the shape of the peg, the tasks can be classified into cylinder peg-in-hole assembly and irregular shaped peg-in-hole assembly [6]. According to the number of pegs, it can be classified into single peg-in-hole and multiple peg-in-hole tasks [7].…”

Section: Introductionmentioning

confidence: 99%

“…Other studies considered the irregular peg-hole operation proposing the special error compensation strategies. Hyeonjun used a partial spiral force trajectory (PSFT) to implement square peg-hole assembly [6]. Young-Loul built a force model about the boundary of the square hole to detect the hole position [20].…”

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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Compliant Peg-in-Hole Assembly Using Partial Spiral Force Trajectory With Tilted Peg Posture

Cited by 33 publications

References 17 publications

A Survey of Robot Manipulation in Contact

A Survey of Robot Manipulation in Contact

Dual-Arm Peg-in-Hole Assembly Using DNN with Double Force/Torque Sensor

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

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