Robotic Peg-in-Hole Assembly System Based on Vision and Fuzzy Control

摘要

A robotic peg-in-hole assembly system based on vision system and force feedback is studied. The whole assembly process consists of three stages. The first step is to locate the position of the hole through the vision system roughly and move the peg to the top of the hole. The next is to search for the center of the hole with the search trajectory of concentric circles after the peg is in contact with the edge of the hole. In the final stage, the insertion process is completed by using the active compliance control method of fuzzy control. Experiments on a six-degree-of-freedom robot arm verify the effectiveness of the assembly strategy.