NDLI: On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

Content Provider	IEEE Xplore Digital Library
Author	Dietrich, F. Buchholz, D. Wobbe, F. Sowinski, F. Raatz, A. Schumacher, W. Wahl, F.M.
Copyright Year	2010
Description	Author affiliation: Institut für Robotik und Prozessinformatik, Technische Universität Braunschweig, 38106, Germany (Buchholz, D.; Wahl, F.M.) \|\| Institute of Control Engineering, Technische Universität Braunschweig, 38106, Germany (Wobbe, F.; Schumacher, W.) \|\| Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, 38106, Germany (Dietrich, F.; Sowinski, F.; Raatz, A.)
Abstract	Force guided assembly is attractive but the implementation is challenging when uncertainties are present. In these cases, contact models that guide the assembly process are attractive. This article elaborates the usage of static contact models, which map displacements to force-torque vectors of particular contact situations (force-torque map). This model, a map of discrete points, contains force and torque values that correspond to position errors. The inversion of this map, using forces and torques measured from an assembly attempt, yields correction movements in order to accomplish the assembly iteratively. A hypothesis stating the dependency of the model's quality on its injectivity is investigated. This aspect is studied thoroughly in so-called redundancy maps, which reveal regions of considerable ambiguity of the model. Experimental results are presented, which validate the hypothesis about the dependency of the convergence of the assembly process on the ambiguity of the initial position. In addition to the peg-in-hole problem, which has become a standard scenario to validate force guided assembly, the scope of this article also covers force guided assembly of more complex parts. Here, the analysis gives evidence to believe that it is unlikely that the implementation convergences acceptably, which is validated by experimental results.
Starting Page	2313
Ending Page	2318
File Size	1268623
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652704
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Assembly Redundancy Force Torque Sensors Force measurement Robots
Content Type	Text
Resource Type	Article

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