Fuzzy control of automatic peg-in-hole insertion

Automatic assembly generally requires an extremely tight positional accuracy and a good knowledge of parts' geometrical characteristics. The inaccuracy of the positioning devices used during part mating adds to the complexity of the process. One approach to help the assembly and avoid generation of large impact forces between the parts is to employ compliance motion. The active compliance control of the insertion processes is studied and an alternative approach based on fuzzy control is proposed. Theoretical analysis of the interaction forces in peg-in-hole insertion task is presented. The design of the fuzzy controller executing insertion operation is described. The performance of the designed fuzzy controller using computer simulation is presented.