Automated guidance of peg-in-hole assembly tasks for complex-shaped parts

Hee Chan Song; Young Loul Kim; Jae-Bok Song

doi:10.1109/IROS.2014.6943202

Automated guidance of peg-in-hole assembly tasks for complex-shaped parts

Hee Chan Song, Young Loul Kim, Jae-Bok Song

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

48 Citations (Scopus)

Abstract

To prevent the failure of peg-in-hole assembly tasks involving geometrically complex parts, a force control-based assembly strategy that takes geometric information into account is required. Therefore, in this study, we propose an assembly strategy for complex-shaped parts which performs force control based on visually-obtained geometric information and CAD models. CAD models are used to obtain geometric information about the parts, and a camera is used to track their position and orientation. In addition, an impedance control scheme is used to control the contact force to avoid excessive force during assembly tasks. The performance of the proposed guidance algorithm was evaluated by a series of experiments using arbitrary complex-shaped parts.

Original language	English
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4517-4522
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943202
Publication status	Published - 2014 Oct 31
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 2014 Sept 14 → 2014 Sept 18

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/9/14 → 14/9/18

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2014.6943202

Cite this

Song, H. C., Kim, Y. L., & Song, J-B. (2014). Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4517-4522). [6943202] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943202

Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. / Song, Hee Chan; Kim, Young Loul; Song, Jae-Bok.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4517-4522 6943202 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Song, HC, Kim, YL & Song, J-B 2014, Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943202, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4517-4522, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/9/14. https://doi.org/10.1109/IROS.2014.6943202

Song HC, Kim YL, Song J-B. Automated guidance of peg-in-hole assembly tasks for complex-shaped parts. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4517-4522. 6943202. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943202

@inproceedings{86cfcff95f444db99b58d9338d4fde52,

title = "Automated guidance of peg-in-hole assembly tasks for complex-shaped parts",

abstract = "To prevent the failure of peg-in-hole assembly tasks involving geometrically complex parts, a force control-based assembly strategy that takes geometric information into account is required. Therefore, in this study, we propose an assembly strategy for complex-shaped parts which performs force control based on visually-obtained geometric information and CAD models. CAD models are used to obtain geometric information about the parts, and a camera is used to track their position and orientation. In addition, an impedance control scheme is used to control the contact force to avoid excessive force during assembly tasks. The performance of the proposed guidance algorithm was evaluated by a series of experiments using arbitrary complex-shaped parts.",

author = "Song, {Hee Chan} and Kim, {Young Loul} and Jae-Bok Song",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

year = "2014",

month = oct,

day = "31",

doi = "10.1109/IROS.2014.6943202",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4517--4522",

booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Automated guidance of peg-in-hole assembly tasks for complex-shaped parts

AU - Song, Hee Chan

AU - Kim, Young Loul

AU - Song, Jae-Bok

PY - 2014/10/31

Y1 - 2014/10/31

N2 - To prevent the failure of peg-in-hole assembly tasks involving geometrically complex parts, a force control-based assembly strategy that takes geometric information into account is required. Therefore, in this study, we propose an assembly strategy for complex-shaped parts which performs force control based on visually-obtained geometric information and CAD models. CAD models are used to obtain geometric information about the parts, and a camera is used to track their position and orientation. In addition, an impedance control scheme is used to control the contact force to avoid excessive force during assembly tasks. The performance of the proposed guidance algorithm was evaluated by a series of experiments using arbitrary complex-shaped parts.

AB - To prevent the failure of peg-in-hole assembly tasks involving geometrically complex parts, a force control-based assembly strategy that takes geometric information into account is required. Therefore, in this study, we propose an assembly strategy for complex-shaped parts which performs force control based on visually-obtained geometric information and CAD models. CAD models are used to obtain geometric information about the parts, and a camera is used to track their position and orientation. In addition, an impedance control scheme is used to control the contact force to avoid excessive force during assembly tasks. The performance of the proposed guidance algorithm was evaluated by a series of experiments using arbitrary complex-shaped parts.

UR - http://www.scopus.com/inward/record.url?scp=84911486505&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6943202

DO - 10.1109/IROS.2014.6943202

M3 - Conference contribution

AN - SCOPUS:84911486505

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4517

EP - 4522

BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014

Y2 - 14 September 2014 through 18 September 2014

ER -

Automated guidance of peg-in-hole assembly tasks for complex-shaped parts

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this