publication . Conference object . 2001

Interpretation of force and moment signals for compliant peg-in-hole assembly

Y.-H. Pao; Y. Zhao; Wyatt S. Newman;
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  • Published: 01 Jan 2001
  • Publisher: IEEE
Abstract
Interpretation of force and moment data is used to guide the searching phase of a circular peg-in-hole assembly. It is shown that the available measurements carry varying quality of information, ambiguous in much of the search space and relatively precise in a small region. By interpreting the history of sensory data acquired during an assembly attempt, reliable interpretation of the data is possible. A feature-based technique is described for interpreting sensory data. Experiments with robotic peg-in-hole assembly demonstrated a speed-up of nearly an order of magnitude relative to a blind search.
Subjects
free text keywords: Engineering, business.industry, business, Feature extraction, Peg in hole, Pattern matching, Computer vision, Sensory system, Artificial intelligence, Order of magnitude, Information quality
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