What is it about?
The force-controlled peg in hole search is performed here by finding the maximum descent of peg into the hole at the runtime. This is done by using incremental optimization techniques.
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Why is it important?
It is important because it changes the perspective of viewing the peg in hole search problem. And this provides to find alternative and better solutions to this problem. Also, the usage of optimization techniques is presented here not to directly optimize some parameters but to guide the robot's path to reach the hole center.
Perspectives
The Peg in Hole search is a classical topic. There has been extensive research on this. The techniques in this paper came out in a bottom-up approach. The author was looking for some technique similar to how a human performs peg in hole search with minimal a priori information of the working environment. Finally and interestingly, it was found that the mathematical optimization techniques are not only meant for optimizing a mathematical function but can be used to guide a robot's trajectory. This opens a new way to look at the age-old problem and a new way to utilize mathematical techniques.
Kamal Sharma
Bhabha Atomic Research Centre
Read the Original
This page is a summary of: Peg-In-Hole search using convex optimization techniques, Industrial Robot the international journal of robotics research and application, August 2017, Emerald,
DOI: 10.1108/ir-09-2016-0240.
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