Intuitive peg-in-hole assembly strategy with a compliant manipulator

Abstract

To realize a peg-in-hole assembly with a multi-degree of freedom (DOF) manipulator, the precise position of the hole is required. If the hole is not circular, orientation information is also necessary. A force/torque (F/T) sensor is widely used to sense the position and orientation of the hole. Attaching the F/T sensor on the wrist of a manipulator helps in estimating the position between the peg and hole. However, a person does not need precise information of an object when completing an assembly task. For example, when inserting a plug into an outlet, a person does not need to know the exact information and coordination about the position and orientation of the plug and outlet. A closer look at the process shows that the person tries to place a plug near the outlet and then finds the two holes by rubbing the plug against the outlet without looking. This paper introduces an intuitive assembly strategy inspired by this human behavior. This strategy does not need the precise location of the hole. Instead of an F/T sensor, this strategy adopts hybrid force/position control and passive compliance control for successful peg-in-hole assembly. The feasibility of the proposed strategy was verified through simulation and a hardware experiment.