Sensorless and constraint based peg-in-hole task execution with a dual-arm robot
- 1 May 2016
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2016 IEEE International Conference on Robotics and Automation (ICRA)
Abstract
Fast and sensorless peg-in-hole insertion is a challenging task for a robotic manipulator. In order to deal with the peg-in-hole insertion problem without any need of an external force/torque sensor, this paper proposes to actively accomplish compliance in the insertion task relying on an admittance based control. This is combined with a real-time trajectory generator, by means of constraint based optimization, where a model-based sensorless observer of interaction forces is exploited. Experiments have been performed on an ABB dual-arm 7-DOF lightweight prototype robot to validate the proposed approach, with an insertion speed comparable to human manual execution and in presence of geometric uncertaintyKeywords
This publication has 17 references indexed in Scilit:
- Reactive motion planning and control for compliant and constraint-based task executionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2015
- Hierarchical quadratic programming: Fast online humanoid-robot motion generationThe International Journal of Robotics Research, 2014
- Sensor‐less insertion strategy for an eccentric peg in a hole of the crankshaft and bearing assemblyAssembly Automation, 2012
- Peg-on-hole: a model based solution to peg and hole alignmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Search strategies for peg-in-hole assemblies with position uncertaintyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Discrete event systems approach to fixtureless peg-in-hole assemblyPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2001
- Hybrid control approach to the peg-in hole problemIEEE Robotics & Automation Magazine, 1997
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Automatic Synthesis of Fine-Motion Strategies for RobotsThe International Journal of Robotics Research, 1984
- Quasi-Static Assembly of Compliantly Supported Rigid PartsJournal of Dynamic Systems, Measurement, and Control, 1982