Sensor-Based Control Using an Image Point and Distance Features for Rivet-in-Hole Insertion

This paper addresses the problem of stabilizing the machine at a pose specified by a reference image and four laser sensor readings. The system configuration combining monocular vision and laser pointers is applied for pose estimation of the end-effector as well as providing the control objective. Specific features are selected to reflect the pose of the end-effector in Cartesian space, and an adaptive controller is designed to implement the alignment between the end-effector and a stationary object for further assembly. The complete control scheme is assessed through simulations and experiments conducted on an automatic drilling and riveting system, the results demonstrate that the assembly task can be accomplished accurately and efficiently even with coarsely calibrated camera and laser pointers. Furthermore, decoupled results can be gained thanks to the selected features.