Enhancements of force-torque map based assembly applied to parallel robots

Dietrich, Franz; Wobbe, Frank; Sowinski, Frank; Raatz, Annika; Schumacher, Walter; Wahl, Friedrich M.

doi:10.1109/icit.2010.5472750

Search citation statements

Order By: Relevance

Paper Sections

Select...

Problem Description and State-of-art1

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2010

2023

Publication Types

Select...

Article2

Other1

Relationship

Self Cite0

Independent3

Authors

Journals

Cited by 3 publications

(1 citation statement)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some researchers proposed a force/torque map, shown in Fig. 1 (b), which presents the forces and torques on all possible contact positions to find the displacement between peg and hole centers [5,6]. …”

Section: Problem Description and State-of-artmentioning

confidence: 99%

Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application

Abdullah

Roth

Weyrich

et al. 2015

MATEC Web of Conferences

View full text Add to dashboard Cite

Abstract. This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole's edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.

show abstract

Section: Problem Description and State-of-artmentioning

confidence: 99%