Abstract
PurposeThis paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot’s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working environment.Design/methodology/approachThe paper models Peg-In-Hole search problem as a problem of finding the minima in depth profile for a particular assembly. Thereafter, various optimization techniques are used to guide the robot to locate minima and complete the hole search. This approach is inspired by a human’s approach of searching a hole by moving peg in various directions so as to search a point of maximum insertion which is same as the minima in depth profile.FindingsThe usage of optimization techniques for hole search allows the robot to work with minimum a priori information of the working environment. Also, the iterative nature of the techniques adapts to any disturbance during assembly.Practical implicationsThe techniques discussed here are quite useful if a force-controlled assembly needs to be performed in a highly unknown environment and also when the assembly setup can get disturbed in between.Originality/valueThe concept is original and provides a non-conventional use of optimization techniques, not for optimization of some process directly but for an industrial robot’s motion planning.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.