Force control for a rigid dual peg-in-hole assembly
Abstract
Purpose
This paper aims to realize the automatic assembly process for multiple rigid peg-in-hole components.
Design/methodology/approach
This paper develops fuzzy force control strategies for the rigid dual peg-in-hole assembly. Firstly the fuzzy force control strategies are presented. Secondly the contact states and contact forces are analyzed to prove the availability of the force control strategies.
Findings
The rigid dual peg-in-hole assembly experimental results show the effectiveness of the control strategies.
Originality/value
This paper proposes fuzzy force control strategies for a rigid dual peg-in-hole assembly task.
Keywords
Acknowledgements
The work is partially supported by National Science Foundation of China (No. 51675291, No. U1613205) and the Fund of State Key Laboratory of Tribology of China (No. SKLT2015B10).
Citation
Zhang, K., Shi, M., Xu, J., Liu, F. and Chen, K. (2017), "Force control for a rigid dual peg-in-hole assembly", Assembly Automation, Vol. 37 No. 2, pp. 200-207. https://doi.org/10.1108/AA-09-2016-120
Publisher
:Emerald Publishing Limited
Copyright © 2017, Emerald Publishing Limited