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Abstract：
Force-based manipulation control strategies are evolving as a primary mechanism in robotics for performing the fine manipulation tasks typical within manufacturing assembly. The ability to systematically compare robotic system performance and quantify true advancement in fine manipulation is of utmost importance. Accordingly, the objectives of this paper are threefold: 1) creation of a peg-in-hole test method with associated performance metrics and a systematic data analysis strategy for performance benchmarking, 2) first demonstration of a recently developed manipulation controller piloting a robotic hand and its paired task-level logic for completing the peg-in-hole test, and 3) exemplifying the performance benchmarking technique by comparing two approaches for robotic insertions-the previously mentioned compliant hand, stiff arm system, and a stiff gripper, compliant arm system. Analyses reveal that the unconventional hand system can perform at and sometimes above the level of the gripper system in the developed peg-in-hole scenario. Moreover, the hand\'s active control of the peg\'s full Cartesian pose reduces positional error sensitivity and minimizes exerted insertion forces, highlighting the strategy\'s potential for fine manipulation tasks. Results indicate that robotic arms equipped with highly articulated and sensorized robotic hands can provide a truly realizable solution path for performing peg-in-hole tasks.
摘要：
基于力的操纵控制策略正在发展成为机器人技术中用于执行制造组装中典型的精细操纵任务的主要机制。系统地比较机器人系统性能并量化精细操纵中的真正进步的能力至关重要。因此，本文的目标有三个方面：1）创建具有相关性能指标的钉孔测试方法和用于性能基准测试的系统数据分析策略，2）首次演示了最近开发的操纵控制器，该控制器操纵了机械手及其成对的任务级逻辑，以完成钉入孔测试，and3)examplivingtheperformancebenchmarkingtechniquebycomparingtwoapproachesforrobotsinsertions-thepreviouslymentionedcomplianthand,硬臂系统，和一个僵硬的夹子，顺从的手臂系统。分析表明，在开发的钉孔方案中，非常规的手系统可以达到甚至有时高于抓具系统的水平。此外，手对钉的全笛卡尔姿势的主动控制降低了位置误差灵敏度，并最大限度地减少了施加的插入力，突出战略的精细操作任务的潜力。结果表明，配备有高度铰接和传感器的机器人手的机械臂可以为执行钉在洞中的任务提供真正可实现的解决方案路径。
