Force control for a rigid dual peg-in-hole assembly

Abstract

Purpose This paper aims to realize the automatic assembly process for multiple rigid peg-in-hole components. Design/methodology/approach This paper develops fuzzy force control strategies for the rigid dual peg-in-hole assembly. Firstly the fuzzy force control strategies are presented. Secondly the contact states and contact forces are analyzed to prove the availability of the force control strategies. Findings The rigid dual peg-in-hole assembly experimental results show the effectiveness of the control strategies. Originality/value This paper proposes fuzzy force control strategies for a rigid dual peg-in-hole assembly task.