Hole detection algorithm for square peg-in-hole using force-based shape recognition

Kim, Young-Loul; Kim, Byeong-Sang; Song, Jae-Bok

doi:10.1109/coase.2012.6386340

Cited by 19 publications

(8 citation statements)

References 7 publications

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“…Again, the tilt of peg and the peg’s center should be known to perform precession. Kim et al (2012) use force-based shape recognition to locate the hole center. This technique again requires the peg-center to be matched with the Force/Torque sensor’s frame.…”

Section: Introductionmentioning

confidence: 99%

“…Xu et al (2015) use force and moment based feature vectors to locate the hole based on prior training. The approaches used by Newman et al (2001), Kim et al (2012) and Xu et al (2015) deploy force and moment values for the guidance of hole search. The force and moment values are very noisy and are not as repeatable as the position values.…”

Section: Introductionmentioning

confidence: 99%

“…This paper also presents a method to qualitatively simulate the depth profile for a cylindrical peg-in-hole assembly. The existing intelligent search techniques as in Chhatpar and Branicky (2001), Newman et al (2001), Chhatpar and Branicky (2003), Chhatpar and Branicky (2005), Kim et al (2012) and Udai et al (2015) require knowledge of one or the other parameter of the assembly setup, whereas the techniques presented in this paper and Sharma et al (2013) perform the search without the knowledge about assembly parameters like peg orientation, location of peg center, clearance value, etc. Such techniques make the hole search more practical and general-purpose.…”

Section: Introductionmentioning

confidence: 99%

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Peg-In-Hole search using convex optimization techniques

Sharma

Shirwalkar

Pal

2017

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Purpose This paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot’s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working environment. Design/methodology/approach The paper models Peg-In-Hole search problem as a problem of finding the minima in depth profile for a particular assembly. Thereafter, various optimization techniques are used to guide the robot to locate minima and complete the hole search. This approach is inspired by a human’s approach of searching a hole by moving peg in various directions so as to search a point of maximum insertion which is same as the minima in depth profile. Findings The usage of optimization techniques for hole search allows the robot to work with minimum a priori information of the working environment. Also, the iterative nature of the techniques adapts to any disturbance during assembly. Practical implications The techniques discussed here are quite useful if a force-controlled assembly needs to be performed in a highly unknown environment and also when the assembly setup can get disturbed in between. Originality/value The concept is original and provides a non-conventional use of optimization techniques, not for optimization of some process directly but for an industrial robot’s motion planning.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Peg-In-Hole search using convex optimization techniques

Sharma

Shirwalkar

Pal

2017

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“…A great deal of work revolves around planning and executing fine motions to handle challenging peg-in-hole style assembly tasks (e.g [12], [13]). We, on the other hand, seek to plan inherently robust sequences that minimize difficult tasks during assembly.…”

Section: B Robustnessmentioning

confidence: 99%

Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores

Geft

Tamar

Goldberg

et al. 2019

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

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To compute robust 2D assembly plans, we present an approach that combines geometric planning with a deep neural network. We train the network using the Box2D physics simulator with added stochastic noise to yield robustness scores-the success probabilities of planned assembly motions. As running a simulation for every assembly motion is impractical, we train a convolutional neural network to map assembly operations, given as an image pair of the subassemblies before and after they are mated, to a robustness score. The neural network prediction is used within a planner to quickly prune out motions that are not robust. We demonstrate this approach on two-handed planar assemblies, where the motions are onestep translations. Results suggest that the neural network can learn robustness to plan robust sequences an order of magnitude faster than physics simulation.

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“…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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Hole detection algorithm for square peg-in-hole using force-based shape recognition

Cited by 19 publications

References 7 publications

Peg-In-Hole search using convex optimization techniques

Peg-In-Hole search using convex optimization techniques

Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores

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

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