Learning-based Optimization Algorithms Combining Force Control Strategies for Peg-in-Hole Assembly
Peng Zou,Qiuguo Zhu,Jun Wu,Rong Xiong,Peng Zou,Qiuguo Zhu,Jun Wu,Rong Xiong
In this paper, an approach for automatic peg-in-hole assembly is proposed. The task is divided into two main steps: searching phase and inserting phase. First, a multilayer perceptron network is designed to address the hole search problem and a hybrid force position controller is introduced to ensure a safe and stable interaction with the external environment. Then, for the inserting phase, a vari...
