Robot assembly theory and simulation of circular-rectangular compound peg-in-hole
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722000200
Abstract: In this paper, the assembly problem of circular-rectangular compound peg and hole parts in automatic assembly is proposed for the first time, and an automatic assembly method based on six-dimensional force sensor is summarized. Firstly,… read more here.
Keywords: hole; circular rectangular; assembly theory; rectangular compound ... See more keywords
Compliant Peg-in-Hole Assembly Using Partial Spiral Force Trajectory With Tilted Peg Posture
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3000428
Abstract: The peg-in-hole method using the compliance characteristics of robots has advantages in terms of cost and speed compared to conventional methods based on contact force feedback with force/torque sensors. In our previous study, we proposed… read more here.
Keywords: peg hole; force trajectory; method; force ... See more keywords
Uncertainty-driven Spiral Trajectory for Robotic Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3176718
Abstract: The peg-in-hole assembly is an essential robotic task that is widely involved in the industry and daily life. Hole search is a crucial step in peg-in-hole since it aligns the peg and hole where the… read more here.
Keywords: hole; uncertainty; hole assembly; peg hole ... See more keywords
Peg-in-Hole Assembly With Dual-Arm Robot and Dexterous Robot Hands
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3187497
Abstract: This study focuses on implementing robotic peg-in-hole in a more human-like approach, namely using dual-arms and dexterous robotic hands. The peg-in-hole strategy in this study mainly consists of two parts: grasping strategy (hand part) and… read more here.
Keywords: hole; hole assembly; peg hole; strategy ... See more keywords
Reinforcement Learning of Impedance Policies for Peg-in-Hole Tasks: Role of Asymmetric Matrices
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191070
Abstract: Robotic manipulators are playing an increasing role in a wide range of industries. However, their application to assembly tasks is hampered by the need for precise control over the environment and for task-specific coding. Cartesian… read more here.
Keywords: reinforcement learning; role; peg hole; impedance ... See more keywords
Geometric-Feature Representation Based Pre-Training Method for Reinforcement Learning of Peg-in-Hole Tasks
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3261759
Abstract: Recently, reinforcement learning (RL) is often used for learning the strategy of peg-in-hole tasks. However, traditional state representation of PiH RL might be either redundant or abstract, which leads to unnecessary learning steps and incompatibility… read more here.
Keywords: pre training; representation; peg hole; method ... See more keywords
Fuzzy Logic-Driven Variable Time-Scale Prediction-Based Reinforcement Learning for Robotic Multiple Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2020.3024725
Abstract: Reinforcement learning (RL) has been increasingly used for single peg-in-hole assembly, where assembly skill is learned through interaction with the assembly environment in a manner similar to skills employed by human beings. However, the existing… read more here.
Keywords: time; peg hole; environment; hole assembly ... See more keywords
Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2682002
Abstract: The peg-in-hole assembly is a representative robotic task that involves physical contact with the external environment. In this paper, in contrast to past research in the area, which has involved the utilization of such expensive… read more here.
Keywords: hole assembly; compliance; hole; peg hole ... See more keywords
Feature-Based Compliance Control for Precise Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3112990
Abstract: This article focuses on solving the problem of precise peg-in-hole assembly. The main contribution of this article is to propose a control method to improve the assembly precision. The method is capable to realize the… read more here.
Keywords: peg hole; control; feature; precise peg ... See more keywords
Position/Force Visual-Sensing-Based Robotic Sheet-Like Peg-in-Hole Assembly
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DOI: 10.1109/tim.2021.3135552
Abstract: This article deals with a sheet-like peg-in-hole robotic assembly task which is usually done in manual operation. Thin-walled deformable objects will introduce some special uncertainties in robotic peg-in-hole assembly, which may make this kind of… read more here.
Keywords: position; hole; peg hole; hole assembly ... See more keywords
A Noncontact Control Strategy for Circular Peg-in-Hole Assembly Guided by the 6-DOF Robot Based on Hybrid Vision
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3164133
Abstract: Facing some special operating environments or conditions, existing control methods for the peg-in-hole assembly guided by robots always have their own disadvantages, for example, low efficiency or poor adaptability. For the above problem, in this… read more here.
Keywords: hole; control; hole assembly; peg hole ... See more keywords