Title :
Peg-on-hole: a model based solution to peg and hole alignment
Author :
Bruyninckx, H. ; Dutre, S. ; De Schutter, Joris
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium
Abstract :
Most of the literature on the classical “peg-in-hole” problem concentrates on the insertion phase. In unstructured environments, however, the preceding phases of finding the hole and aligning the axes of peg and hole are equally important. This paper describes how to model the “peg-on-hole” contact situation, and how to specify the alignment motion for arbitrarily large alignment errors between the axes of peg and hole. The results are given for any radius of peg and hole. They are applied in a real world experiment, in which some uncertainties in the location of the hole are also resolved online by active force sensing
Keywords :
assembling; computational geometry; industrial manipulators; path planning; position control; production control; active force sensing; alignment; assembly; geometric model; hole location; insertion phase; model based control; motion planning; peg-in-hole operation; robotics; Computational geometry; Electronic mail; Force control; Jamming; Kinematics; Mechanical engineering; Robot sensing systems; Robustness; Solid modeling; Uncertainty;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525545
