Data and Results from Three Peg-in-Hole Experiments for Improving Insertion Tasks

Metadata Updated: December 6, 2019

A method was developed to reduce the point-based registration error by restoring the rigid body condition (RRBC method). Registration is the process of transforming one coordinate frame to another coordinate frame. The coordinate frame from which points are transformed is called the working frame and the coordinate frame to which points are transformed is called the destination frame. The RRBC method can be used to reduce the uncertainty of a hole location and thus, improve the success rate for insertion tasks. Peg-in-hole experiments were conducted to quantify the level of improvement.

How the RRBC method works: A grid of points is measured in two different coordinate frames - working and destination. The basic premise of the RRBC method is that the distance between any two points should be same in the working and destination frames - a fundamental concept for rigid bodies. However, due to systematic and/or random measurement error, the distances are not exactly the same in the two frames. Using the two sets of measured points (fiducials), the RRBC method calculates the corrections to the fiducials in the working frame so that the rigid body condition is restored. For points that are measured only in the working frame (targets), corrections for these points are linearly interpolated from the closest corrected fiducials.

Data and results from three peg-in-hole experiments may be downloaded from this site.

Access & Use Information

Public: This dataset is intended for public access and use. License: See this page for license information.

Downloads & Resources

References

http://dx.doi.org/10.6028/NIST.IR.8198r1
http://dx.doi.org/10.6028/NIST.IR.8180

Dates

Metadata Created Date August 10, 2018
Metadata Updated Date December 6, 2019
Data Update Frequency irregular

Metadata Source

Harvested from Commerce Non Spatial Data.json Harvest Source

Additional Metadata

Resource Type Dataset
Metadata Created Date August 10, 2018
Metadata Updated Date December 6, 2019
Publisher National Institute of Standards and Technology
Unique Identifier 6BC6DDA74AD3283CE053245706819E221921
Maintainer
Geraldine Cheok
Maintainer Email
Public Access Level public
Data Update Frequency irregular
Bureau Code 006:55
Metadata Context https://project-open-data.cio.gov/v1.1/schema/catalog.jsonld
Schema Version https://project-open-data.cio.gov/v1.1/schema
Catalog Describedby https://project-open-data.cio.gov/v1.1/schema/catalog.json
Harvest Object Id 8d9b824a-4ba6-4f59-b988-073b941762d1
Harvest Source Id 0836a94a-b3c8-4190-a145-bddc06458b2c
Harvest Source Title Commerce Non Spatial Data.json Harvest Source
Homepage URL https://www.nist.gov/el/intelligent-systems-division-73500/peg-hole-data
Language en
License https://www.nist.gov/open/license
Data Last Modified 2018-05-08
Program Code 006:045
Related Documents http://dx.doi.org/10.6028/NIST.IR.8198r1, http://dx.doi.org/10.6028/NIST.IR.8180
Source Datajson Identifier True
Source Hash f141be9d8d65bdd1e4a1f55dd259f646995f1f25
Source Schema Version 1.1
Category Manufacturing:Robotics in manufacturing

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