Dual Arm Peg-in-Hole Assembly with a Programmed Compliant System

In order to accomplish a peg-in-hole task with a manipulator, a cognition process is needed to extract the positional information of the objects. However, in the case of a peg-in-hole task with an extremely small clearance, or for work in an unstructured environment, the cognition process has limited accuracy, caused by factors such as resolution and disturbance. Compliance has been considered as a solution to extremely small clearance in the peg-in-hole task. In order to give a manipulator the characteristic of compliance, an RCC (remote center compliance) device is generally used. This paper proposes an alternative: Programmed variable compliance, using virtual spring controllers in task space, and verifies its effectiveness by an experiment involving fine peg-in-hole insertion with a dual arm robot.