Search strategies for peg-in-hole assemblies with position uncertainty

This paper presents search strategies for peg-in-hole assemblies with position uncertainty. The assembly of parts whose position uncertainty far exceeds assembly clearance has to rely on either, visual assistance or blind searching to achieve part mating. In the absence of visual assistance we look at blind search strategies to cover the search area in an efficient manner. The paper also describes a tilt strategy using special cues to guide the assembly and enhance blind search. Results from assemblies on an actual robot are presented