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Contact Force/Torque Prediction and Analysis Model for Large Length-diameter Ratio Peg-in-hole Assembly
Yuchen Wang1; Peng Wang2; Changchun Liu3; Gaoming Hao2; Zhao Xiong3; Xusong Quan3; Xiaodong Yuan3; Hai Zhou3
2018-12
Conference Name2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference Date2018.12.12-2018.12.15
Conference Place马来西亚
PublisherIEEE
Abstract

Large length-diameter ratio peg-in-hole assembly is a hard and significant issue in modern industry. The prediction and control of the contact force/torque play a crucial part in flexible assembly. They ensure that the contact force/torque data are within limits in assembly process, which can prevent jam and protect devices. In this paper, we propose a novel contact force/torque prediction and analysis model to solve the large length-diameter ratio peg-in-hole assembly problem in which the contact states are difficult to be obtained. Firstly, we establish a new force/torque prediction model with measured data to obtain the precision actual contact force/torque which is critical for assembly control. Then, a new contact analysis model for large length-diameter ratio peg-in-hole assembly is built to estimate the assembly contact states. At last, based on the proposed contact force/torque prediction and analysis model, we design a robot pose adjustment strategy for large length-diameter ratio peg-in-hole assembly. Experiment results demonstrate that the proposed model can meet the demands of large length-diameter ratio peg-in-hole assembly. The predicted error rates of force/torque are lower than 1% and the mean force/torque in assembly process are lower than 5 N / 0.5 N·m by our model.

Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23688
Collection智能机器人团队
Corresponding AuthorPeng Wang
Affiliation1.the University of Chinese Academy of Sciences, the Institute of Automation, Chinese Academy of Sciences
2.the Institute of Automation, Chinese Academy of Sciences
3.the Research Center of Laser Fusion, China Academy of Engineering Physics
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yuchen Wang,Peng Wang,Changchun Liu,et al. Contact Force/Torque Prediction and Analysis Model for Large Length-diameter Ratio Peg-in-hole Assembly[C]:IEEE,2018.
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