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

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

doi:10.1109/IROS.2014.6943202

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

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

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

30 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 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	https://doi.org/10.1109/IROS.2014.6943202
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

ASJC Scopus subject areas

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

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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

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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.",

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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.

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

Abstract

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