Sensorless and constraint based peg in hole task execution with a dual arm robot
Fast and sensorless peg in hole insertion is a challenging task for a robotic manipulator. In order to deal with the peg in hole insertion problem without any need of an external force/torque sensor, this paper proposes to actively accomplish compliance in the insertion task relying on an admittance based control. This is combined with a real time trajectory generator, by means of constraint based optimization, where a model based sensorless observer of interaction forces is exploited. Experiments have been performed on an ABB dual arm 7 DOF lightweight prototype robot to validate the proposed approach, with an insertion speed comparable to human manual execution and in presence of geometric uncertainty.
2016 IEEE International Conference on Robotics and Automation (ICRA)