RISC for Peg-In-Hole Insertions
Peg-in-hole insertion is not only a longstanding problem in robotics
but the most common automated mechanical assembly task. In
this paper we present a high precision, self-calibrating peg-in-hole
insertion strategy using several very simple, inexpensive, and
accurate optical sensors. The self-calibrating feature allows us to
achieve successful dead-reckoning insertions with tolerances of
25 microns without any accurate initial position information for the
robot, pegs, or holes. The program we implemented works for any
cylindrical peg, and the sensing steps do not depend on the peg
diameter, which the program does not know. The key to the strategy is
the use of a fixed sensor to localize both a mobile sensor and the
peg, while the mobile sensor localizes the hole. Our strategy is
extremely fast, localizing pegs as they are en route to their
insertion location without pausing. The result is that insertion
times are dominated by the transport time between pick and place
operations.
Click here for movie
-
Acccurate Insertions Strategies Using Simple Optical Sensors
- Eric Paulos and John Canny
- (7 Pages PostScript)
- IEEE Robotics and Automation, 1994
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RISC Info
Eric Paulos /
paulos@robotics.eecs.berkeley.edu /
15 June 1994