Sensorless and constraint based peg-in-hole task execution with a dual-arm robot
Matteo Parigi Polverini, Andrea Maria Zanchettin, Sebastiano Castello, Paolo Rocco
Abstract
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.
BibTeX
@inproceedings{icra2016_sensorlessandcon,
title = {Sensorless and constraint based peg-in-hole task execution with a dual-arm robot},
author = {Matteo Parigi Polverini and Andrea Maria Zanchettin and Sebastiano Castello and Paolo Rocco},
booktitle = {ICRA 2016},
year = {2016}
}