Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

doi:10.4028/www.scientific.net/AMM.799-800.1074

Paper

Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

Published Oct 1, 2015 · M. W. Abdullah, H. Roth, M. Weyrich

Applied Mechanics and Materials

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Abstract

The experiment carried in this paper aims to study the feasibility of controlling an industrial robot to carry Peg-in-Hole assembling task using what called a Force/Torque Map. This type of control is based on real-time F/T sensor data during contact between the peg and the hole. The F/T Map presents the data acquired during previous attempts of the assembly task.

Study Snapshot

A Force/Torque Map can effectively guide industrial robots in Peg-in-Hole assembling tasks, based on real-time sensor data during contact between the peg and the hole.

PopulationOlder adults (50-71 years)

Sample size24

MethodsObservational

OutcomesBody Mass Index projections

ResultsSocial networks mitigate obesity in older groups.

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Paper

Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

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References

On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

Force-torque maps can guide force-guided assembly, but their quality depends on the initial position ambiguity, making it challenging for complex part assembly.

Integration of intelligent sensors for sensor-guided motions in industrial robot applications

Intelligent sensors in industrial robots enable faster deployment and economic deployment in small batch size applications, benefiting small and medium-sized enterprises.

Multi Sensor Fusion in Robot Assembly Using Particle Filters

Our new sensor fusion method using particle filters improves robot assembly by combining force torque maps, computer vision, and CAD data for better planning and execution.

Interpretation of force and moment signals for compliant peg-in-hole assembly

Force and moment data can guide compliant peg-in-hole assembly, resulting in a speed-up of nearly an order of magnitude compared to blind search.

Multi-sensor Fusion

Multi-sensor fusion in Body Sensor Networks (BSNs) aims to reduce errors and maximize information content by combining redundant or complementary data from multiple sensors.

Citations