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 |
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| 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 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications