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

12 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 publicationIEEE International Conference on Automation Science and Engineering
Pages1074-1079
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
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

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

Fingerprint

Robotic assembly
Force control
Position control
Sensors
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kim, Y. L., Kim, B. S., & Song, J-B. (2012). Hole detection algorithm for square peg-in-hole using force-based shape recognition. In IEEE International Conference on Automation Science and Engineering (pp. 1074-1079). [6386340] https://doi.org/10.1109/CoASE.2012.6386340

Hole detection algorithm for square peg-in-hole using force-based shape recognition. / Kim, Young Loul; Kim, Byeong Sang; Song, Jae-Bok.

IEEE International Conference on Automation Science and Engineering. 2012. p. 1074-1079 6386340.

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

Kim, YL, Kim, BS & Song, J-B 2012, Hole detection algorithm for square peg-in-hole using force-based shape recognition. in IEEE International Conference on Automation Science and Engineering., 6386340, pp. 1074-1079, 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012, Seoul, Korea, Republic of, 12/8/20. https://doi.org/10.1109/CoASE.2012.6386340
Kim YL, Kim BS, Song J-B. Hole detection algorithm for square peg-in-hole using force-based shape recognition. In IEEE International Conference on Automation Science and Engineering. 2012. p. 1074-1079. 6386340 https://doi.org/10.1109/CoASE.2012.6386340
Kim, Young Loul ; Kim, Byeong Sang ; Song, Jae-Bok. / Hole detection algorithm for square peg-in-hole using force-based shape recognition. IEEE International Conference on Automation Science and Engineering. 2012. pp. 1074-1079
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