The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two- or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space.
In this paper, the authors handle the insertion problem by converting it into several sub-problems based on the attractive region formed by the constraints. The existence of the attractive region in the high-dimensional configuration space is first discussed. Then, the construction of the high-dimensional attractive region with its sub-attractive region in the low-dimensional space is proposed. Therefore, the robotic insertion strategy can be designed in the subspace to eliminate some uncertainties between the dual pegs and dual holes.
Dual peg-in-hole insertion is realized without using of force sensors. The proposed strategy is also used to demonstrate the precision dual peg-in-hole insertion, where the clearance between the dual-peg and dual-hole is about 0.02 mm.
The sensor-less insertion strategy will not increase the cost of the assembly system and also can be used in the dual peg-in-hole insertion.
The theoretical and experimental analyses for dual peg-in-hole insertion are proposed without using of force sensor.
This work is supported in part by NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization under Grant number U150921 and is supported by the Strategic Priority Research Program of the CAS (Grant XDB02080003).
Su, J., Li, R., Qiao, H., Xu, J., Ai, Q. and Zhu, J. (2017), "Study on dual peg-in-hole insertion using of constraints formed in the environment", Industrial Robot, Vol. 44 No. 6, pp. 730-740. https://doi.org/10.1108/IR-07-2016-0186
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