Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling-Reference-Cited by-同舟云学术

Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

Published:2015-10 Issue: Volume:799-800 Page:1074-1077
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Abdullah Mustafa Waad¹,Roth Hubert¹,Weyrich Michael²,Wahrburg Jürgen¹,Oleiwi Bashra Kadhim¹

Affiliation:

1. University of Siegen

2. University of Stuttgart

Abstract

The experiment carried in this paper aims to study the feasibility of controlling an industrial robot to carry Peg-in-Hole assembling task using what called a Force/Torque Map. This type of control is based on real-time F/T sensor data during contact between the peg and the hole. The F/T Map presents the data acquired during previous attempts of the assembly task.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.799-800.1074.pdf

Reference4 articles.

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3. E. Kus, R. Grüninger, and R. Hüppi, in: Integration of Intelligent Sensors for Sensor guided Motions in Industrial Robot Applications. IEEE International Conference on Automation and Logistics Qingdao, China (2008).

4. O F. Dietrich, D. Buchholz, F. Wobbe, F. Sowinski, A. Raatz, W. Schumacher, F. M. Wahl, On Contact Models for Assembly Tasks: Experimental Investigation Beyond the Peg-in-Hole Problem on the Example of Force-Torque Maps, International Conference on Robotics and Automations IEEE (2010).