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Improving Positional Accuracy for Robotic Assembly Tasks
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The National Institute of Standards and Technology has developed a procedure to reduce the positional error of an object as measured by a perception sensor and relayed to a robot for action. This reduced positional error improves the quality of assembly tasks such as insertion, picking, part mating, and drilling. This procedure does not require purchasing additional hardware. |
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A description and implementation of the procedure, Restoration of Rigid-Body Condition (RRBC), may be downloaded below. The improvement in an insertion task using the RRBC method was quantified using peg-in-hole experiments. These results may also be downloaded below and data from the experiments may be downloaded from this link. |
PowerPoint Presentations and Handouts
(Handouts are condensed versions of the presentations)
RRBC Method Explained and Results |
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| PRESENTATION | HANDOUT | |
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1. Introduction, Step-by-step explanation and illustration of procedure |
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| 2. Results showing improvement when RRBC implemented |
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| 3. Full presentation (1 and 2) |
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Implementing RRBC |
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| PRESENTATION | HANDOUT | |
| Describes System Integrators’ and Users’ responsibilities when implementing the RRBC method. |
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