Peg-and-hole task by robot with force sensor: Simulation and experiment

A simple peg-and-hole task using a robot with a force-torque sensor mounted in a wrist was studied. The goal of the research was to test if the insertion can be successfully performed by using only a robot with force feedback and no other special tools. There was no chamfer provided either on the hole's edge or on the peg's edge, to preserve geometrical independence of the insertion procedure. Simulations and experiments showed that the insertion is possible if an appropriate insertion procedure with a hybrid position/force controller is used. Conditions for a peg to be jammed in a hole were studied and it was found out that jamming can be avoided when a force control loop reference point is placed at the peg's tip. >