Peg-in-hole insertion method based on adaptive impedance control

A peg_in_hole insertion method based on adaptive impedance control is presented. The reference position of robot end_effector is modified according to force information through adaptation law, which makes the peg move in the direction that reduces jamming forces, and finally the insertion is accomplished. This method is simple and the modification can be computed on_line, so it satisfies the requirement of real_time control. Simulation results are given to verify its effectiveness.