Abstract
The tight tolerance peg-in-hole process brings great challenges for robotic assembly. Force control-based methods have been proposed to generate complex compliant behavior to deal with the shape and clearance variances. However, existing solutions are based on the assumption that the peg and hole parts are fixed during the assembly process and can absorb the contact force completely. For this purpose, customized fixtures have to be designed and utilized, which greatly affect the system’s deployment cost, time, and flexibility. Considering the fact that in an assembly, the parts are naturally related to each other, this paper studies the irregular-shaped peg-in-hole assembly problem with partial constraints. Firstly, geometric and force model are developed for the natural constraints between the parts; by analyzing the behavior of the partial constraint, a control policy is proposed to compensate the position errors and drive the parts to a stable equilibrium point; For the irregular-shaped parts, a multiple-stage searching method is developed to efficiently search for the real hole location; Finally, a switching force/position hybrid controller is designed to coordinate the alignment, searching and insertion processes. The method is implemented in a real platform. The experiment results verify the effectiveness of the proposed methods.
Highlights
Automatic assembly is an important part of an industrial automation system
Because of geometric constraints between the key and the slot, the slot can only move linearly along the X and Z axis. This is similar to the peg-in-hole process and it can be implemented by a hybrid position/force control policy
The paper studied the problem of irregular-shaped peg-in-hole assembly with partial constraints, which can be found in many mechanical systems with internal movement
Summary
Automatic assembly is an important part of an industrial automation system. The robot, due to its high flexibility, plays a key role in the fully automatic assembly system. Su et al proposes a new manipulation strategy to complete sensorless to complete a peg inserting the partial constraint hole [21] In this application, the robot has finished the partial constraint workpieces assembly with the visual and assistant fixture. Su et al proposes a new manipulation strategy to complete sensorless to comp3leotfe18a peg inserting the partial constraint hole [21] The gap between the key a sides of the slot are 2I.r5remgulmar and a tight gap in the Y-direction It can be foundPegthHoalte besides the common peg-in-hole process, either ap requires a partially Acsosenmsbltyrained assembly process.
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