Autonomous alignment of peg and hole by force/torque measurement for robotic assembly

• Published in: IEEE International Conference on Automation Science and Engineering (CASE) pp. 162 - 167
• Main Authors: Te Tang, Hsien-Chung Lin, Yu Zhao, Wenjie Chen, Tomizuka, Masayoshi
• Format: Conference Proceeding
• Language: English; Japanese
• Published: IEEE 01.08.2016
• Subjects: Force; Force measurement; Friction; Iron; Sensors; Service robots

In the past years, many methods have been developed for robotic peg-hole-insertion to automate the assembly process. However, many of them are based on the assumption that the peg and hole are well aligned before insertion starts. In practice, if there is a large pose(position/orientation) misalignm...