Open AccessRobust and Error-Tolerant Peg-in-Hole Assembly Using Simple Control
Author(s) -
Masanori Ueda,
Tokuo Tsuji,
Shota Ishikawa,
Tatsuhiro Hiramitsu,
Hiroaki Seki,
Yosuke Suzuki,
Toshihiro Nishimura,
Tetsuyou Watanabe
Publication year - 2025
Publication title -
ieee robotics and automation letters
Language(s) - English
Resource type - Magazines
SCImago Journal Rank - 1.123
H-Index - 56
eISSN - 2377-3766
DOI - 10.1109/lra.2025.3572804
Subject(s) - robotics and control systems , computing and processing , components, circuits, devices and systems
We developed a simple peg-in-hole strategy that uses flexible joints and peg rotations. Even when the circle peg in the peg-in-hole assembly contains position and orientation errors, it can be inserted in a passive and robust manner. Additionally, using force-torque sensors to estimate the contact position allows the correction of the orientation of the peg and its insertion into the hole if the initial attempt fails. We conducted horizontal and vertical peg-in-hole experiments with random position and orientation errors to demonstrate the effectiveness of the developed method. This method does not rely on high-frequency sensors or servos, which enables a quick and low-cost peg-in-hole assembly with tolerance to position and orientation errors and direction.