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Peg-In-Hole search using convex optimization techniques

Kamal Sharma (Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai, India)
Varsha Shirwalkar (Bhabha Atomic Research Centre, Mumbai, India)
Prabir K. Pal (Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai, India)

Industrial Robot

ISSN: 0143-991x

Article publication date: 21 August 2017

293

Abstract

Purpose

This paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot’s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working environment.

Design/methodology/approach

The paper models Peg-In-Hole search problem as a problem of finding the minima in depth profile for a particular assembly. Thereafter, various optimization techniques are used to guide the robot to locate minima and complete the hole search. This approach is inspired by a human’s approach of searching a hole by moving peg in various directions so as to search a point of maximum insertion which is same as the minima in depth profile.

Findings

The usage of optimization techniques for hole search allows the robot to work with minimum a priori information of the working environment. Also, the iterative nature of the techniques adapts to any disturbance during assembly.

Practical implications

The techniques discussed here are quite useful if a force-controlled assembly needs to be performed in a highly unknown environment and also when the assembly setup can get disturbed in between.

Originality/value

The concept is original and provides a non-conventional use of optimization techniques, not for optimization of some process directly but for an industrial robot’s motion planning.

Keywords

Citation

Sharma, K., Shirwalkar, V. and Pal, P.K. (2017), "Peg-In-Hole search using convex optimization techniques", Industrial Robot, Vol. 44 No. 5, pp. 618-628. https://doi.org/10.1108/IR-09-2016-0240

Publisher

:

Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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