Force control for a rigid dual peg-in-hole assembly

Zhang, Kuangen; Shi, MinHui; Xu, Jing; Liu, Feng; Chen, Ken

doi:10.1108/aa-09-2016-120

Cited by 47 publications

(34 citation statements)

References 19 publications

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“…Even though spring and damping parts have been used to absorb and store energy produced by the interacting forces, forces information cannot be feedback to guide the motion of robot. On the other hand, many researchers paid attention to active compliant assembly [ 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 ]. Takahashi proposed a method for a robot to form interpretation rules by analyzing the human assembly operation [ 11 ].…”

Section: Introductionmentioning

confidence: 99%

“…In [ 18 ], a generic algorithm was presented and position/orientation errors were compensated by Cartesian impedance control, which were applied to connect the charging plug with an automobile. Based on the analysis of contact states and forces, fuzzy force control strategies were used to complete dual peg-in-hole assembly [ 19 ]. In addition, a lightweight robot completes peg-in-hole assembly processes for flexible rubber objects using a Gaussian mixtures model scheme [ 20 ].…”

Section: Introductionmentioning

confidence: 99%

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Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Zhang

Zheng

Ota

et al. 2017

Sensors

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This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Zhang

Zheng

Ota

et al. 2017

Sensors

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“…With the aim to improve the flexibility of robotic assembly, adaptive control techniques [7], such as hybrid position/force control algorithms have been proposed [8]- [10]. The general idea among the existing control techniques is to implement a position control along the lateral direction while pushing the robot towards the direction of the insertion.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics

Mobedi

Villa

Kim

et al. 2020

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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The objective of this paper is to propose an adaptive impedance control framework to cope with uncertainties in vision and dynamics in robotic assembly tasks. The framework is composed of an adaptive controller, a vision system, and an interaction planner, which are all supervised by a finite state machine. In this framework, the target assembly object's pose is detected through the vision module, which is then used for the planning of the robot trajectories. The adaptive impedance control module copes with the uncertainties of the vision and the interaction planner modules in alignment of the assembly parts (a peg and a hole in this work). Unlike the classical impedance controllers, the online adaptation rule regulates the level of robot compliance in constrained directions, acting on and responding to the external forces. This enables the implementation of a flexible and adaptive Remote Center of Compliance (RCC) system, using active control. We first evaluate the performance of the proposed adaptive controller in comparison to classical impedance control. Next, the overall performance of the integrated system is evaluated in a pegin-hole setup, with different clearances and orientation mismatches.

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“…Secondly, although the LM is up to sub-millimeter accuracy, it still cannot meet the requirements of a tight tolerant assembly task where the error is in micrometer range. Thirdly, the LM has a limited sensing range, and it cannot be applied to tasks with large workspace; finally, like other non-contact interaction methods, the lack of force feedback makes it difficult to be applied in compliant tasks, which are common in complex assembly processes [22,23].…”

Section: Introductionmentioning

confidence: 99%

A Gesture-Based Teleoperation System for Compliant Robot Motion

et al. 2019

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Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.

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Force control for a rigid dual peg-in-hole assembly

Cited by 47 publications

References 19 publications

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics

A Gesture-Based Teleoperation System for Compliant Robot Motion

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