On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

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

doi:10.1109/iros.2010.5652704

Cited by 31 publications

(9 citation statements)

References 16 publications

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“…Also, a novel modeling framework 8 for contact detection and estimation of contact location on multi-continuum robots is presented, the geometric relationship between objects by contact point cloud network is acquired, 9 and vectors between the object is applied to calculate and classify the object relative position. Force-torque map is used 10 to figure out the uncertainty of contact relations. Attractive region is proposed 11,12 to determine the relation between peg and hole during the assembly process, while operation space is divided into two subspaces, in which force signals are employed to guide the robot manipulation, such as positioning and insertion.…”

Section: Introductionmentioning

confidence: 99%

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

Zhang

Xie

Liu

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Bolt screwing assembly task is a crucial part for robot fine manipulation. For widely applied flexible joints robot with six-dimensional force/torque sensor, data collected could not be seen as the contact force since it consists of internal force caused by deformation of the manipulator joints. Force analysis and geometric analysis could not be applied to judge the relative pose between robot end-effector and the environment. To this end, logistic regression method was used to classify the contact state by force signals. Besides, the criterion that bolt has entered the thread hole is also significant, while a boundary condition was proposed to solve this problem. A bolt screwing experiment was conducted to evaluate the proposed strategy, and the results demonstrate the effectiveness of the contact state classification and the boundary condition for judging the bolt entering the thread hole.

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Section: Introductionmentioning

confidence: 99%

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

Zhang

Xie

Liu

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…In addition, a lightweight robot completes peg-in-hole assembly processes for flexible rubber objects using a Gaussian mixtures model scheme [ 20 ]. The contact models based on force guidance were introduced in [ 21 ]. In [ 22 , 23 , 24 , 25 ], some researchers focused on the avoidance of jamming and wedging to obtain the assembly conditions.…”

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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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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“…Considering how a human would approach recovery form positioning error, the following actions can be described in six stages: These stages can be represented as an assembly sequence modeled as a discrete event system (DES). This model simplifies the control strategy that will facilitate the constraint motion commands [33]. The discrete events are graphically represented based on Petri-Nets as in [21].…”

Section: Methodsmentioning

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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On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

Cited by 31 publications

References 16 publications

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

A novel approach for flexible manipulator conducting screwing task based on robot–environment contact classification

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

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

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