Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand.

ABSTRACT: Force-based manipulation control strategies are evolving as a primary mechanism in robotics for performing the fine manipulation tasks typical within manufacturing assembly. The ability to systematically compare robotic system performance and quantify true advancement in fine manipulation is of utmost importance. Accordingly, the objectives of this paper are threefold: 1) creation of a peg-in-hole test method with associated performance metrics and a systematic data analysis strategy for performance benchmarking, 2) first demonstration of a recently developed manipulation controller piloting a robotic hand and its paired task-level logic for completing the peg-in-hole test, and 3) exemplifying the performance benchmarking technique by comparing two approaches for robotic insertions-the pre

SUBMITTER: Wyk KV 

PROVIDER: S-EPMC11008496 | biostudies-literature | 2018 Apr

REPOSITORIES: biostudies-literature