Aug 2026· 2026 IEEE 22nd International Conference on Automation Science and Engineering (CASE)· pp. 1957-1964· 0 citations· 21 references
Abstract
This paper presents a generic model-based methodology for defining and executing robust force-based insertion skills capable of handling geometric uncertainties in robotic assembly tasks with sub-millimiter clearance fits. The approach can deal with geometric variability (i.e. different object shapes), insertions with multiple contact points such as dual pegs and complex mating features such as snap-fit assemblies. Robustness is achieved through a sequence of task-space degree-of-freedom reductions, one at a time, each executed via force-based control and monitoring to systematically reduce uncertainties. In addition, the paper introduces an algorithm that automatically generates insertion skills for planar polygonal objects, which are commonly found in industrial applications such as printed circuit board (PCB) assembly and quality control. The methodology is validated through extensive experiments involving objects of varying geometries and tight sub-millimeter clearance fits.
Transitioning from a digital design to a robotic assembly process currently requires months of expert manual tuning to reconcile part geometries with robotic constraints. This paper presents an end-to-end, autonomous pipeline for the design and physical construction of bespoke wooden assemblies. A generative AI agent t...
Millicent Schlafly, Fabio Schaub, Diogo Costa Pais et al.· 0 citations
High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-hole tasks are widely used for evaluation, existing bench- marks often rely on fixed task configurations, limiting their ability to assess rob...
Y. Delgado, José G. Buenaventura-Carreón, Floris Erich et al.· 0 citations
To address the high-precision positioning and clamping requirements of ball joints (ball studs) in automated CNC turning operations, this paper presents a specialized fixture designed for TAKAMAZ precision lathes integrated with robotic arms. The fixture employs a combined positioning strategy of "three-jaw chuck with...
Wen-Feng Zhang, Min Wan, Jing-Yun Yin et al.· International Conference on...· 0 citations
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces that complete the task without exceeding the assembly's capacity. Although construction documents encode engineering knowledge about materials...
Lin-Jin He, Yan-Yi Chen, Hao Sun et al.· 0 citations
Stable support remains challenging in robotic disassembly of irregularly shaped products. As components are progressively removed, the available support surfaces, mass distribution, and task loads change throughout the process. A fixture layout designed for one workpiece state may therefore become infeasible at later s...
