Hole detection algorithm for square peg-in-hole using force-based shape recognition

Young Loul Kim, Byeong Sang Kim, Jae Bok Song

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

15 Citations (Scopus)

Abstract

It is very difficult to assemble precision parts using only position control. To deal with these problems, force control approaches, which provide a proper motion response against the contact force, were investigated. Moreover, hole detection is a crucial step to eliminate the uncertainty in robotic assembly. Without a proper hole detection algorithm, assembly time increases along with the position difference between the peg and the hole. In this study, we propose a shape recognition algorithm based on a 6 axis F/T sensor and the hole detection algorithm. The proposed hole detection algorithm can find the direction of the hole regardless of the size of the position error between a peg and a hole. The same algorithm can be implemented not only to a circular peg, but also to a polygonal convex peg. A series of experimental results show that the proposed algorithms can estimate the shape and location of a peg reasonably well.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Automation Science and Engineering
Subtitle of host publicationGreen Automation Toward a Sustainable Society, CASE 2012
Pages1074-1079
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of
Duration: 2012 Aug 202012 Aug 24

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
CountryKorea, Republic of
CitySeoul
Period12/8/2012/8/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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