Realizing peg-and-hole alignment with one eye-in-hand high-speed camera

Abstract

In order to deal with the problem of fast peg-and-hole alignment with position and attitude uncertainty, this paper presents a visual servoing approach with a single eye-in-hand high-speed camera. The coupling between the position and attitude alignment as well as the dynamics of robot arm exist as challenging issues for the fast convergence of the alignment process. The proposed motion separation strategy innovatively adopts a high-speed 3-DOF active peg to cooperate with the robot arm under high-speed visual feedback. Alignment experiments show that peg-and-hole alignment with the proposed approach could be successfully realized with fast convergence for most cases.