Hole detection algorithm for chamferless square peg-in-hole based on shape recognition using F/T sensor

Young Loul Kim, Hee Chan Song, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

56 Citations (Scopus)


Precision parts are difficult to assemble using only position control. To deal with this difficulty, force control approaches, which provide proper motion responses against contact forces, are investigated. Moreover, hole detection is a crucial step in eliminating the uncertainty in robotic assembly. Without a proper hole detection algorithm, assembly time increases with the position difference between the peg and the hole. In this study, we propose a shape recognition algorithm based on a 6-axis F/T sensor and a hole detection algorithm. The proposed hole detection algorithm can find the direction of a hole regardless of the size of the position error between the peg and the hole with some overlap of the hole and the peg. The same algorithm can be implemented not only for a circular peg, but also for a polygonal convex peg. A series of experimental results show that the proposed algorithms can estimate the shape and location of a peg reasonably well.

Original languageEnglish
Pages (from-to)425-432
Number of pages8
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number3
Publication statusPublished - 2014 Mar

Bibliographical note

Funding Information:
This work was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 10038660) and by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2007-0056650).


  • Assembly strategy
  • Force control
  • Robotic assembly
  • Shape recognition
  • Vision system

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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