Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to solve the problem. The method uses combined task and motion planning to plan the grasps and motion for a dual-arm robot to pick up the objects and move them to assembly poses. Then, it controls the dual-arm robot using a compliant strategy (a combination of linear search, spiral search, and impedance control) to finish up the insertion. The method is implemented on a dual-arm Universal Robots 3 robot. Six objects, including a connector with fifteen peg-in-hole pairs for detailed analysis and other five objects with different contours of pegs and holes for additional validation, were tested by the robot. Experimental results show reasonable force-torque signal changes and end-effector position changes. The proposed method exhibits high robustness and high fidelity in successfully conducting planned peg-in-hole tasks.

中文翻译：

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将组合任务和运动规划与合规控制相结合

计划插入钉子的动作仍然是一个悬而未决的问题。难点在于机械手的抓取不可避免的误差和机器人关节电机的绝对精度问题。本文提出了一种积分方法来解决该问题。该方法使用组合任务和运动规划来规划双臂机器人的抓取和运动，以拾取物体并将它们移动到装配姿势。然后，它使用柔顺策略（线性搜索、螺旋搜索和阻抗控制的组合）控制双臂机器人以完成插入。该方法在双臂 Universal Robots 3 机器人上实施。机器人测试了六个物体，包括一个带有 15 对钉孔对的连接器，用于详细分析，以及其他五个具有不同钉孔轮廓的物体，用于额外验证。实验结果显示了合理的力扭矩信号变化和末端执行器位置变化。所提出的方法在成功执行计划中的钉孔任务时表现出高鲁棒性和高保真度。