Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application

Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application

This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six val...

Full description

Bibliographic Details
Main Authors: Abdullah Mustafa Waad, Roth Hubert, Weyrich Michael, Wahrburg Jürgen, Pluemworasawat Padipat
Format: Article
Language:English
Published: EDP Sciences 2015-01-01
Series:MATEC Web of Conferences
Online Access:http://dx.doi.org/10.1051/matecconf/20152804003
id doaj-7d980c401f7f4c749890d2ad93e8d8c4
record_format Article
spelling doaj-7d980c401f7f4c749890d2ad93e8d8c42021-02-02T05:11:31ZengEDP SciencesMATEC Web of Conferences2261-236X2015-01-01280400310.1051/matecconf/20152804003matecconf_icame2015_04003Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling ApplicationAbdullah Mustafa WaadRoth HubertWeyrich MichaelWahrburg JürgenPluemworasawat PadipatThis paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole's edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.http://dx.doi.org/10.1051/matecconf/20152804003
collection DOAJ
language English
format Article
sources DOAJ
author Abdullah Mustafa Waad
Roth Hubert
Weyrich Michael
Wahrburg Jürgen
Pluemworasawat Padipat
spellingShingle Abdullah Mustafa Waad
Roth Hubert
Weyrich Michael
Wahrburg Jürgen
Pluemworasawat Padipat
Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
MATEC Web of Conferences
author_facet Abdullah Mustafa Waad
Roth Hubert
Weyrich Michael
Wahrburg Jürgen
Pluemworasawat Padipat
author_sort Abdullah Mustafa Waad
title Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
title_short Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
title_full Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
title_fullStr Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
title_full_unstemmed Force/Torque Data Modeling for Contact Position Estimation in Peg-in-Hole Assembling Application
title_sort force/torque data modeling for contact position estimation in peg-in-hole assembling application
publisher EDP Sciences
series MATEC Web of Conferences
issn 2261-236X
publishDate 2015-01-01
description This paper presents an approach for estimating contact positions of peg-in-hole assembling application using data models created from Force/Torque sensor inputs. The assembling task is carried by an industrial robot where the F/T sensor is mounted between the robot and the gripper to measure six values of forces and torques during the contact between the peg and the hole. The search approach to estimate the current position of the contact point is implemented based on human like intuitive behavior by maneuvering the peg on the hole's edge. Different models were created and evaluated using experiments results acquired from pervious assembling attempts. Assembling steps, data analysis and models results are presented in this research.
url http://dx.doi.org/10.1051/matecconf/20152804003
work_keys_str_mv AT abdullahmustafawaad forcetorquedatamodelingforcontactpositionestimationinpeginholeassemblingapplication
AT rothhubert forcetorquedatamodelingforcontactpositionestimationinpeginholeassemblingapplication
AT weyrichmichael forcetorquedatamodelingforcontactpositionestimationinpeginholeassemblingapplication
AT wahrburgjurgen forcetorquedatamodelingforcontactpositionestimationinpeginholeassemblingapplication
AT pluemworasawatpadipat forcetorquedatamodelingforcontactpositionestimationinpeginholeassemblingapplication
_version_ 1724304084190625792

Similar Items