Peg-and-hole task by robot with force sensor: Simulation and experiment

A simple peg-and-hole task using a robot with a force-torque sensor mounted in a wrist was studied. The goal of the research was to test if the insertion can be successfully performed by using only a robot with force feedback and no other special tools. There was no chamfer provided either on the hole´s edge or on the peg´s edge, to preserve geometrical independence of the insertion procedure. Simulations and experiments showed that the insertion is possible if an appropriate insertion procedure with a hybrid position/force controller is used. Conditions for a peg to be jammed in a hole were studied and it was found out that jamming can be avoided when a force control loop reference point is placed at the peg´s tip