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Online insertion trajectory correction for robot peg-in-hole assembly with floating targets

delete2026-04-18
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PRE
AI
C
Changwei Wu
S
Shouhui Deng
Z
Zihao Zhou
T
Tianyu Zhang
J
Jianing Zheng
L
Lifeng Zhu *
A
Aiguo Song
DOI：10.1007/s10514-026-10245-8delete
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Abstract

Abstract

En 中文
The Peg-in-Hole assembly is a fundamental robotic task, but in certain scenarios, contact forces can cause the target to shift, creating a floating target. Traditional methods struggle with overshoot and static errors under these conditions. We propose an iterative target position prediction strategy, utilizing force-torque sensor data to dynamically adjust for floating targets. Our approach effectively addresses the challenges of floating targets. We build a physical prototype of a Peg-in-Hole task of a floating target to test our method.
Keywords:
Peg-in-hole assembly
Robotic assembly
Force feedback

Journal

Autonomous Robots cover
Autonomous Robots
IF:
4.3
Papers:
1.6K
Citations:
5.0K

Organization

I
instrument science and engineering
Scholars:
21
Papers: 4
Citations: 0
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