Nowadays, industrial robots have been widely applied for performing position-controlled tasks with minimum contact such as spot welding, spray painting, packing, and material handling; however, performing high-tolerance assembly tasks still poses a great challenge for robots because of various uncertainties of the parts to be assembled such as fixtures, end effector tools, or axes. From this perspective, the advancement of research and development has led to cutting-edge robotic technologies for industrial applications. To understand the technological trend of industrial robots, investigated the state-of-the-art robotic assembly technologies to identify the limitations of existing works and clarify future research directions in the field. This paper especially interested on typical peg-in-hole (PiH) assemblies, as PiH methods provide insights for further development of robot assemblies. The assembly control strategies for PiH operations is classified by based on the types and features of the assemblies, and the literature in terms of the contributions of these studies is compared to PiH assembly. Finally, the control strategies for robotic PiH assemblies are discussed in detail, and the limitations of the current robotic assembly technologies are discussed to identify the future direction of research for the control of robotic assembly.

如今，工业机器人已被广泛应用于执行位置控制任务，并且接触最少，例如点焊，喷涂，包装和材料处理。但是，由于要装配的零件（例如固定装置，末端执行器工具或轴）的各种不确定性，执行高公差的装配任务仍然给机器人带来了巨大挑战。从这个角度来看，研究和开发的进步导致了用于工业应用的尖端机器人技术。为了了解工业机器人的技术趋势，研究了最先进的机器人装配技术，以发现现有工作的局限性并阐明该领域的未来研究方向。本文对典型的孔内钉（PiH）组件特别感兴趣，因为PiH方法为进一步开发机器人组件提供了见识。根据装配的类型和特征，对PiH装配的装配控制策略进行分类，并将有关这些研究的文献与PiH装配进行比较。最后，详细讨论了机器人PiH装配的控制策略，并讨论了当前机器人装配技术的局限性，以确定机器人装配控制的未来研究方向。