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Fuzzy control of automatic peg-in-hole insertion

Conference Paper


Abstract


  • 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. In this work 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.

Publication Date


  • 1995

Citation


  • Nguyen, P., & Naghdy, F. (1995). Fuzzy control of automatic peg-in-hole insertion. In ANZIIS 1995 - Proceedings of the 3rd Australian and New Zealand Conference on Intelligent Information Systems (pp. 134-139). doi:10.1109/ANZIIS.1995.705728

Scopus Eid


  • 2-s2.0-85022024231

Web Of Science Accession Number


Start Page


  • 134

End Page


  • 139

Abstract


  • 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. In this work 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.

Publication Date


  • 1995

Citation


  • Nguyen, P., & Naghdy, F. (1995). Fuzzy control of automatic peg-in-hole insertion. In ANZIIS 1995 - Proceedings of the 3rd Australian and New Zealand Conference on Intelligent Information Systems (pp. 134-139). doi:10.1109/ANZIIS.1995.705728

Scopus Eid


  • 2-s2.0-85022024231

Web Of Science Accession Number


Start Page


  • 134

End Page


  • 139