Visual sensor-based measurement for deformable peg-in-hole tasks

Unlike rigid parts, deformable parts can be deformed by contact force during assembly. For successful assembly, information about their deformation as well as possible misalignments between the holes and their respective mating parts are essential. In the paper, the locations of marks in three-dimensional space are identified by using a visual sensing system, and part deformation and misalignment in deformable cylindrical peg-in-hole tasks are measured by using the sensing system. Experimental results show that the system and the measurement algorithm are effective in measuring part deformation and misalignment, thereby dramatically increasing the success rate in assembly operations