A Peg-in-hole Assembly Strategy Using Uncalibrated Visual Servoing
Yeguo Liao, Weidong Chen, Hesheng Wang, Ruimin Wu · 2019
This paper presents a novel peg-in-hole assembly strategy using uncalibrated visual servoing. A three phases assembly strategy is proposed to increase the workspace and avoid repeated desired features sampling when multiple holes are used. Depth-independent interaction matrice for vanishing point and point are derived and update rule for estimating unknown parameters is designed. A multiple phases alignment strategy is proposed to solve the coupled position and attitude issue. An uncalibrated kinematic-based controller is presented and asymptotic convergence is proved. Experiments are conducted to verify the performance.