TARGET TRACKING ROBOTIC MANIPULATION THEORIES APPLIED TO FORCE/POSITION CONTROL IN PEG-IN-HOLE ASSEMBLY TASKS

摘要

One of the most common tasks in robotic assembly processes is to insert a peg into a hole. On the surface this task seems to be simple and straight forward. However, in order to perform this process successfully it requires a complex interaction between the force and geometry of the robot and environment. Typical industrial robots have sensors at the joints and wrist to monitor the hand position and force during this interaction. Using this sensor information, many manipulation methodologies can be considered to attempt the peg insertion task. Hybrid control is one such compliant control scheme that is commonly used in industry. Nevertheless its theoretical feasibility has stirred much controversy. Recent developments in target tracking for force/position control have made it a viable alternative to hybrid control. This paper compares the performance of target tracking to the already established hybrid control schemes by assessing the outcome of case studies of several simulation experiments of peg-in-hole assembly tasks. The results indicate that the robot inserts the peg into the hole faster and with less friction force by using target tracking.