Peg-in-hole insertion method based on adaptive impedance control
基于自适应阻抗控制的轴孔装配方法

A peg-in-hole insertion method based on adaptive impedance control is presented. The reference position of robot end-effector is modified according to force information through adaptation law, which makes the peg move in the direction that reduces jamming forces, and finally the insertion is accomplished. This method is simple and the modification can be computed on-line, so it satisfies the requirement of real-time control. Simulation results are given to verify its effectiveness.