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<p>The Peg-in-Hole assembly is a fundamental robotic task, but in certain scenarios, contact forces can cause the target to shift, creating a floating target. Traditional methods struggle with overshoot and static errors under these conditions. We propose an iterative target position prediction strategy, utilizing force-torque sensor data to dynamically adjust for floating targets. Our approach effectively addresses the challenges of floating targets. We build a physical prototype of a Peg-in-Hole task of a floating target to test our method.</p>

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Online insertion trajectory correction for robot peg-in-hole assembly with floating targets

  • 期刊论文

  • 发表日期：

    2026年4月18日

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  • Changwei Wu,
  • Shouhui Deng,
  • Zihao Zhou,
  • Tianyu Zhang,
  • Jianing Zheng,
  • Lifeng Zhu,
  • Aiguo Song

摘要

The Peg-in-Hole assembly is a fundamental robotic task, but in certain scenarios, contact forces can cause the target to shift, creating a floating target. Traditional methods struggle with overshoot and static errors under these conditions. We propose an iterative target position prediction strategy, utilizing force-torque sensor data to dynamically adjust for floating targets. Our approach effectively addresses the challenges of floating targets. We build a physical prototype of a Peg-in-Hole task of a floating target to test our method.