Abstract: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,… Show more
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