Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot
AbstractThis paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully. View Full-Text
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Zhang, X.; Zheng, Y.; Ota, J.; Huang, Y. Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot. Sensors 2017, 17, 2004.
Zhang X, Zheng Y, Ota J, Huang Y. Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot. Sensors. 2017; 17(9):2004.Chicago/Turabian Style
Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang. 2017. "Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot." Sensors 17, no. 9: 2004.