Research on Robotic Flexible Peg-in-hole Assembly Technology

Abstract

Peg-in-hole assembly is one of the more typical tasks in the machining industry. Although robotic peg-in-hole assembly technology has been widely used in practical production, achieving efficient and reliable flexible peg-in-hole assembly by robots still poses significant challenges. The analysis of robotic flexible peg-in-hole assembly from a control point of view is presented. Firstly, the process of robot flexible peg-in-hole assembly is introduced. Then the application of traditional model-based assembly control is described, on the basis of which learning-based intelligent assembly control is discussed. The combination of intelligent methods and traditional methods will become an important future development trend, injecting new vitality into robotic flexible peg-in-hole assembly.