Abstract
Compliance control of the peg-in-hole insertion while both peg and hole are rigidly supported, is studied. Initially, the peg-in-hole operation is mathematically modelled to develop a better understanding of the existing constraints. Imitating a human operator, a compliant motion for the assembly of the peg in the hole using the heuristic approach is developed. Two basic fuzzy controllers are studied. One in which inference engine operates purely based on force/torque information received from the sensor. In the other the approximate position of the peg is also taken into account to estimate the corrective action required. The rule-bases of both controllers are developed based on the qualitative knowledge of the behaviour of the controlled process. The performance of the fuzzy controllers are compared with the performance of a non-fuzzy IF–THEN logic branching control algorithm. The results obtained are encouraging.
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