Feature-Based Compliance Control for Precise Peg-in-Hole Assembly

This article focuses on solving the problem of precise peg-in-hole assembly. The main contribution of this article is to propose a control method to improve the assembly precision. The method is capable to realize the precise insertion assembly tasks of cylindrical or prismatic objects with clearance or interference fit. In this article, a feature space and a response space are first constructed according to the relative pose and equivalent forces and moments. Then, the contact states are segmented in the feature space and the segmentation boundaries are mapped into the response space. Furthermore, a feature-based compliance control (FBCC) method is proposed based on boundary mapping. In FBCC method, a direction matrix is designed to execute accurate adjustment and an integral element is applied to eliminate residual responses. Finally, the simulations and experiments demonstrate the superiority and robustness of FBCC method.