Automated guidance of peg-in-hole assembly tasks for complex-shaped parts

Hee Chan Song, Young Loul Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

To prevent the failure of peg-in-hole assembly tasks involving geometrically complex parts, a force control-based assembly strategy that takes geometric information into account is required. Therefore, in this study, we propose an assembly strategy for complex-shaped parts which performs force control based on visually-obtained geometric information and CAD models. CAD models are used to obtain geometric information about the parts, and a camera is used to track their position and orientation. In addition, an impedance control scheme is used to control the contact force to avoid excessive force during assembly tasks. The performance of the proposed guidance algorithm was evaluated by a series of experiments using arbitrary complex-shaped parts.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4517-4522
Number of pages6
ISBN (Print)9781479969340
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 2014 Sep 142014 Sep 18

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/9/1414/9/18

Fingerprint

Force control
Computer aided design
Cameras
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Song, H. C., Kim, Y. L., & Song, J-B. (2014). Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. In IEEE International Conference on Intelligent Robots and Systems (pp. 4517-4522). [6943202] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943202

Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. / Song, Hee Chan; Kim, Young Loul; Song, Jae-Bok.

IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4517-4522 6943202.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Song, HC, Kim, YL & Song, J-B 2014, Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. in IEEE International Conference on Intelligent Robots and Systems., 6943202, Institute of Electrical and Electronics Engineers Inc., pp. 4517-4522, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/9/14. https://doi.org/10.1109/IROS.2014.6943202
Song HC, Kim YL, Song J-B. Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. In IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4517-4522. 6943202 https://doi.org/10.1109/IROS.2014.6943202
Song, Hee Chan ; Kim, Young Loul ; Song, Jae-Bok. / Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4517-4522
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