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Keywords: Peg-in-hole
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Journal Articles
A peg-in-hole controller for cable-driven serial robots with compliant wrist based on cable tensions and joint positions
Available to Purchase
Journal:
Robotic Intelligence and Automation
Assembly Automation (2022) 42 (1): 67–79.
Published: 21 December 2021
...Ya'nan Lou; Pengkun Quan; Haoyu Lin; Zhuo Liang; Dongbo Wei; Shichun Di Purpose This purpose of this paper is to design a peg-in-hole controller for a cable-driven serial robot with compliant wrist (CDSR-CW) using cable tensions and joint positions. The peg is connected to the robot link through...
Journal Articles
Learning peg-in-hole assembly using Cartesian DMPs with feedback mechanism
Available to Purchase
Journal:
Robotic Intelligence and Automation
Assembly Automation (2020) 40 (6): 895–904.
Published: 19 October 2020
...Nailong Liu; Xiaodong Zhou; Zhaoming Liu; Hongwei Wang; Long Cui Purpose This paper aims to enable the robot to obtain human-like compliant manipulation skills for the peg-in-hole (PiH) assembly task by learning from demonstration. Design/methodology/approach A modified dynamic movement...
Journal Articles
Robotic assembly for tight tolerant cascaded peg-in-hole process with incomplete constraints
Available to Purchase
Journal:
Robotic Intelligence and Automation
Assembly Automation (2020) 40 (5): 769–778.
Published: 06 August 2020
...Hongtai Cheng; Tianzhuo Liu; Wei Zhang; Lina Hao Purpose Installing a tight tolerant stepped shaft is not a trivial task for an industrial robot. If all peg-hole constraints are complete, the cascaded peg-in-hole task can be simplified into several independent stages and accomplished one by one...
