Human-inspired compliant strategy for peg-in-hole assembly using environmental constraint and coarse force information

摘要

Automated assembly, especially peg-in-hole insertion, is a common task in manufacturing. In particular, the high-precision assembly is achieved by high-precision manipulator and sensing system. However, uncertainty and various parts for assembly are still challenges for robotic assembly, especially for low-precision robot and sensors. It is noteworthy that human can implement assembly tasks although the precision of the arm and hand is not comparable with a common industrial robot, in which process compliance is the key characteristic of their motion. In this paper, we present a human-inspired compliant strategy for peg-in-hole assembly task using the environmental constraint and coarse force information. In the proposed strategy, a constraint region is designed for motion planning and utilized for eliminating the uncertainty of the initial positioning error of the peg. Force sensor is applied to sense the contact force of which the direction is used to adjust the movement of the peg. Therefore, high-precision sensor is not necessarily required. Inspired by human compliant assembly, a from coarse to fine adjustment strategy is executed. The contribution of our strategy is that high precision assembly task can be solved by low precision system. The constraint region and force guided directional adjustment have increased the robustness of the system. The strategy is carried out in simulation for round peg-in-hole assembly task. The experimental results show that the assembly task can be successfully completed and demonstrate the effectiveness of our strategy.