Realizing compliant insertion task based on Attractive-Region-in-Environment

In this paper, an Attractive-Region-In-Environment (ARIE) based compliant Video Graphics Array (VGA) insertion method is designed which can be realized by low precision robotic system. The ARIE theory is applied to generate assembly strategy, and then the admittance control is used to achieve the force and the orientation constraints required by the assembly strategy. High precision assembly can be achieved with low requirements for the control and sensor accuracy of the robot. Environmental constraints are used to eliminate position errors. And when there are collisions, the admittance control can make the contact force small to ensure safety. The VGA assembly experiment is conducted to illustrate the effectiveness of the designed assembly method. The results show that by using the designed method, the assembly can be achieved with low requirement for location precision, and the contact force is maintained in a safe range when the end effector contacts the VGA.