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Sensors 2017, 17(9), 2004; https://doi.org/10.3390/s17092004

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

1
Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou 510640, China
2
School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
3
Research into Artifacts, Center for Engineering, The University of Tokyo, Chiba 113-8654, Japan
*
Author to whom correspondence should be addressed.
Received: 9 July 2017 / Revised: 27 August 2017 / Accepted: 29 August 2017 / Published: 1 September 2017
(This article belongs to the Special Issue Mechatronic Systems for Automatic Vehicles)

Abstract

This 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
Keywords: peg-in-hole assembly; assembly scheme; force/torque sensor; dual-arm coordination; Baxter robot peg-in-hole assembly; assembly scheme; force/torque sensor; dual-arm coordination; Baxter robot
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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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.

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