Peg-in-Hole assembly using Impedance Control with a 6 DOF Robot

Abstract

To gain insight in problems of industrial assembly operations, an anthropomorphic robot equipped with a vision system was used to insert differently shaped pegs into corresponding holes of a plastic ball. Spatial impedance control was used, to properly deal with the interaction between robot and environment and to elegantly chose the impedance of the robot. Simulations gave insight into the behavior of the manipulator during free motion and during contact. Experimental results complied with simulations, but contact forces appeared to be higher than the simulated ones.