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

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

1919

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525545

Filename

525545