2019
DOI: 10.1109/tie.2018.2838069
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Jamming Analysis and Force Control for Flexible Dual Peg-in-Hole Assembly

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Cited by 64 publications
(25 citation statements)
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“…For the same purpose, Tang et al [119] established a mapping between the force/torque feedback and contact states, which were classified into four categories: line contact, single-point contact, two-point contact and three-point contact. Using the same method, Zhang et al [120] provided the mapping model with complex logic computations to estimate the actual contact state for the dual peg-in-hole mating process, and validated the effectiveness through an experimental assembly platform with a force/torque sensor (Figure 14). In this method, the mapping was always obtained based on the force analysis and geometric analysis of all contact states, which relies largely on the specific shape and fit tolerance of the peg and hole.…”
Section: B Active Control Methodsmentioning
confidence: 99%
“…For the same purpose, Tang et al [119] established a mapping between the force/torque feedback and contact states, which were classified into four categories: line contact, single-point contact, two-point contact and three-point contact. Using the same method, Zhang et al [120] provided the mapping model with complex logic computations to estimate the actual contact state for the dual peg-in-hole mating process, and validated the effectiveness through an experimental assembly platform with a force/torque sensor (Figure 14). In this method, the mapping was always obtained based on the force analysis and geometric analysis of all contact states, which relies largely on the specific shape and fit tolerance of the peg and hole.…”
Section: B Active Control Methodsmentioning
confidence: 99%
“…Strategies for peg-in-hole insertion, or more generally robot assembly tasks, have been studied from numerous viewpoints for several decades raising many challenges [1]. Insertion strategies for pegs of various geometries have been previously studied and attempted via a variety of possible techniques and system models: standard cylinders [20,21,22], multiple-peg objects [23,24], soft pegs [25], industrial inserts [26], and open world objects [27,28,29,30,31]. This work seeks to generalize insertion for various geometries.…”
Section: Related Workmentioning
confidence: 99%
“…Model-Based Insertion: Approaches using contact models reason about state conditions and optimal insertion trajectories while controlling the manipulator [24,25]. These techniques typically require expensive force-torque sensing to detect peghole interactions [21,32].…”
Section: Related Workmentioning
confidence: 99%
“…The task of peg-in-hole is a classic assembly task. It is one of the basics for many complex assembly tasks [36]. In recent years, the research of the peg-in-hole assembly has also made many novel methods.…”
Section: Introductionmentioning
confidence: 99%