Peg-in-Hole Assembly Programming Through a Single Demonstration

Abstract

Robot peg-in-hole assembly is a common industrial application that typically requires force-based control. With the rise of small-batch production, the traditional method of software development by professional engineers becomes increasingly burdensome due to high labor and time costs. This article introduces an automatic programming method for such tasks, which can be achieved through a single demonstration. It first analyzes the position and force information from the demonstration of a peg-in-hole assembly process to identify the insertion direction and compliance directions. Subsequently, an admittance controller is designed based on these directions, incorporating the concepts of virtual remote center compliance (RCC) and dynamic balance center. The parameters for the admittance controller are directly determined from the demonstration. A key advantage of the proposed method is that it requires only a single demonstration, eliminating the need for extensive coding efforts. Experiments demonstrate that this method can successfully complete peg-in-hole assembly tasks with a clearance of about 0.02 mm.