Article (Scientific journals)
Position Identification in Force-Guided Robotic Peg-in-Hole Assembly Tasks
JASIM, Ibrahim; PLAPPER, Peter; VOOS, Holger
2014In Procedia CIRP, 22, p. 217–222
Peer Reviewed verified by ORBi
 

Files


Full Text
1-s2.0-S2212827114011342-main.pdf
Publisher postprint (616.37 kB)
Request a copy

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
Force-guided robots; peg-in-hole assembly; position uncertainty; robotic assembly
Abstract :
[en] Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated parts or the robot itself. This article suggests a strategy for identifying the accurate hole position in force-guided robotic peg-in-hole assembly tasks through employing only the captured wrench (the Cartesian forces and torques) signals of the manipulated. In the framework of using the Contact-State (CS) modeling for such robotic tasks, the identification of the hole position is realized through detecting the CS that corresponds for the phase of the peg-on-hole, that is the phase in which the peg is located precisely on the hole. Expectation Maximization-based Gaussian Mixtures Model (EM-GMM) CS modeling scheme is employed in detecting the CS corresponding for the peg-on-hole phase. Only the wrench signals are used in modeling and detecting the phases of the assembly process. The considered peg-in-hole assembly process starts from free space and as soon as the peg touches the environment with missing the hole, a spiral search path is followed that would survey the whole environment surface. When the CS of the peg-on-hole is detected, the hole position is identified. Experiments are conducted on a KUKA Lightweight Robot (LWR) doing typical peg-in-hole assembly tasks. Multiple hole positions are considered and excellent performance of the proposed identification strategy is shown.
Disciplines :
Mechanical engineering
Author, co-author :
JASIM, Ibrahim ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
PLAPPER, Peter ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
VOOS, Holger  ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
External co-authors :
no
Language :
English
Title :
Position Identification in Force-Guided Robotic Peg-in-Hole Assembly Tasks
Publication date :
November 2014
Journal title :
Procedia CIRP
ISSN :
2212-8271
Publisher :
Elsevier, Netherlands
Volume :
22
Pages :
217–222
Peer reviewed :
Peer Reviewed verified by ORBi
FnR Project :
FNR2955286 - Self-adaptive Fuzzy Control For Robotic Peg-in-hole Assembly Process, 2011 (01/05/2012-30/04/2016) - Ibrahim Fahad Jasim Ghalyan
Name of the research project :
R-AGR-0071 - IRP13 - PROBE (20130101-20151231) - PLAPPER Peter
Funders :
FNR - Fonds National de la Recherche [LU]
Available on ORBilu :
since 25 March 2015

Statistics


Number of views
163 (12 by Unilu)
Number of downloads
7 (5 by Unilu)

Scopus citations®
 
61
Scopus citations®
without self-citations
60
OpenCitations
 
43
WoS citations
 
50

Bibliography


Similar publications



Contact ORBilu