Peg-In-Hole Operation Using a Cobot Without Using External Sensors (original) (raw)

Abstract

sparkles

AI

This research explores the automation of peg-in-hole operations using a collaborative robot (cobot) without external force or torque sensors. By leveraging internal motor current consumption data from a UR5 cobot, the study successfully implements monitoring mechanisms that ensure precise part insertion through a two-phase process. The results reveal a high success rate of 96.7% in inserting parts, with implications for reducing costs and complexity in robotic automation for smaller enterprises.

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References (2)

  1. Y. Kim, B. Kim, J. Song, "Hole detection algorithm for square peg-in-hole using force- based shape recognition", 8th IEEE Int. Conf. on Automation Science and Engineering, pp. 1074-1079, August 2012.
  2. Kramberger et al., "Transfer of contact skills to new environmental conditions," 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, pp. 668-675.