TY - GEN

T1 - On contact models for assembly tasks

T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010

AU - Dietrich, Franz

AU - Buchholz, Dirk

AU - Wobbe, Frank

AU - Sowinski, Frank

AU - Raatz, Annika

AU - Schumacher, Walter

AU - Wahl, Friedrich M.

PY - 2010/12/1

Y1 - 2010/12/1

N2 - Force guided assembly is attractive but the im-plementation is challenging when uncertainties are present. In these cases, contact models that guide the assembly process are attractive. This article elaborates the usage of static contact models, which map displacements to force-torque vectors of particular contact situations (force-torque map). This model, a map of discrete points, contains force and torque values that correspond to position errors. The inversion of this map, using forces and torques measured from an assembly attempt, yields correction movements in order to accomplish the assembly iteratively. A hypothesis stating the dependency of the model's quality on its injectivity is investigated. This aspect is studied thoroughly in so-called redundancy maps, which reveal regions of considerable ambiguity of the model. Experimental results are presented, which validate the hypothesis about the dependency of the convergence of the assembly process on the ambiguity of the initial position. In addition to the peg-in-hole problem, which has become a standard scenario to validate force guided assembly, the scope of this article also covers force guided assembly of more complex parts. Here, the analysis gives evidence to believe that it is unlikely that the implementation convergences acceptably, which is validated by experimental results.

AB - Force guided assembly is attractive but the im-plementation is challenging when uncertainties are present. In these cases, contact models that guide the assembly process are attractive. This article elaborates the usage of static contact models, which map displacements to force-torque vectors of particular contact situations (force-torque map). This model, a map of discrete points, contains force and torque values that correspond to position errors. The inversion of this map, using forces and torques measured from an assembly attempt, yields correction movements in order to accomplish the assembly iteratively. A hypothesis stating the dependency of the model's quality on its injectivity is investigated. This aspect is studied thoroughly in so-called redundancy maps, which reveal regions of considerable ambiguity of the model. Experimental results are presented, which validate the hypothesis about the dependency of the convergence of the assembly process on the ambiguity of the initial position. In addition to the peg-in-hole problem, which has become a standard scenario to validate force guided assembly, the scope of this article also covers force guided assembly of more complex parts. Here, the analysis gives evidence to believe that it is unlikely that the implementation convergences acceptably, which is validated by experimental results.

UR - http://www.scopus.com/inward/record.url?scp=78651518519&partnerID=8YFLogxK

U2 - 10.1109/IROS.2010.5652704

DO - 10.1109/IROS.2010.5652704

M3 - Conference contribution

AN - SCOPUS:78651518519

SN - 9781424466757

T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

SP - 2313

EP - 2318

BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Y2 - 18 October 2010 through 22 October 2010

ER -