Depth-based localization for robotic peg-in-tube assembly

Arun Dayal Udai; Ravi Prakash Joshi; Subir Kumar Saha

IROS 2015poster16 citations

Depth-based localization for robotic peg-in-tube assembly

Arun Dayal Udai, Ravi Prakash Joshi, Subir Kumar Saha

Abstract

Peg-in-tube assembly stands ahead of a more common benchmark task for industrial assembly, i.e., ‘pegin-hole’. The robot can easily be deceived to detect the actual hole while performing a ‘peg-in-tube’ task as the tube has a surrounding pocket that cannot support the peg. The paper presents a thorough geometrical analysis of the ‘peg-in-tube’ assembly process, and proposes a novel algorithm based on depth measurements of peg center to perform ‘peg-in-tube’ task. The results are demonstrated on a KUKA KR5 Arc industrial robot with a chamferless cylindrical peg and a tube having a minimum clearance of 0.10 mm.

BibTeX

@inproceedings{iros2015_depthbasedlocali,
  title = {Depth-based localization for robotic peg-in-tube assembly},
  author = {Arun Dayal Udai and Ravi Prakash Joshi and Subir Kumar Saha},
  booktitle = {IROS 2015},
  year = {2015}
}