This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole’s edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.
%0 Generic
%1 abdullah2015forcetorque
%A Abdullah, Mustafa W.
%A Roth, Hubert
%A Weyrich, Michael
%A Wahrburg, Jürgen
%A Pluemworasawat, Padipat
%B ICAME 2015, 4th International Conference on Advances in Mechanics Engineering 20.-21.07.2015 Madrid
%D 2015
%K 2015applikationen 2015ias ias
%R .
%T Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
%U https://www.ias.uni-stuttgart.de/dokumente/publikationen/2015_ForceTorque_Data_Modeling_for_Contact_Position_Estimation_in_Peg-in-Hole_Assembling_Application.pdf
%X This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole’s edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.
@conference{abdullah2015forcetorque,
abstract = {This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole’s edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.},
added-at = {2020-04-24T14:18:10.000+0200},
author = {Abdullah, Mustafa W. and Roth, Hubert and Weyrich, Michael and Wahrburg, Jürgen and Pluemworasawat, Padipat},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/227840ec740ac4e50e4a6f2c2cfb25034/taylansngerli},
booktitle = {ICAME 2015, 4th International Conference on Advances in Mechanics Engineering 20.-21.07.2015 Madrid},
doi = {.},
interhash = {898cf149c6d8fbecc70ef64eb8b2a29d},
intrahash = {27840ec740ac4e50e4a6f2c2cfb25034},
keywords = {2015applikationen 2015ias ias},
timestamp = {2020-05-19T13:46:55.000+0200},
title = {Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application},
url = {https://www.ias.uni-stuttgart.de/dokumente/publikationen/2015_ForceTorque_Data_Modeling_for_Contact_Position_Estimation_in_Peg-in-Hole_Assembling_Application.pdf},
year = 2015
}
