Feature-Based Compliance Control for Peg-in-Hole Assembly with Clearance or Interference Fit

TL;DR

This paper introduces a feature-based compliance control method for precise peg-in-hole assembly, utilizing feature and response spaces to improve accuracy, robustness, and adaptability in handling clearance or interference fits.

Contribution

The paper proposes a novel feature-based compliance control algorithm that maps contact state boundaries into response space for improved assembly precision.

Findings

Demonstrates superior accuracy and robustness in simulations and experiments.

Shows effective boundary segmentation and response adjustment in assembly tasks.

Validates generalization across different assembly conditions.

Abstract

This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature space and the segmentation boundaries are mapped into the response space. Further, a feature-based compliance control (FBCC) algorithm is proposed based on boundary mapping. In the FBCC algorithm, a direction matrix is designed to execute accurate adjustment and an integrator is applied to eliminate the residual responses. Finally, the simulations and experiments demonstrate the superiority, robustness, and generalization ability of the FBCC.