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 language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4517-4522 |
| Number of pages | 6 |
| ISBN (Print) | 9781479969340 |
| DOIs | |
| Publication status | Published - 2014 Jan 1 |
| Event | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 2014 Sep 14 → 2014 Sep 18 |
Other
| Other | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 |
|---|---|
| Country | United States |
| City | Chicago |
| Period | 14/9/14 → 14/9/18 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Automated guidance of peg-in-hole assembly tasks for complex-shaped parts
AU - Song, Hee Chan
AU - Kim, Young Loul
AU - Song, Jae-Bok
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911486505&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911486505&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943202
DO - 10.1109/IROS.2014.6943202
M3 - Conference contribution
SN - 9781479969340
SP - 4517
EP - 4522
BT - IEEE International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -