{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T16:35:31Z","timestamp":1764002131866,"version":"3.41.2"},"reference-count":21,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2017,8,21]],"date-time":"2017-08-21T00:00:00Z","timestamp":1503273600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,8,21]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot\u2019s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working environment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The paper models Peg-In-Hole search problem as a problem of finding the minima in depth profile for a particular assembly. Thereafter, various optimization techniques are used to guide the robot to locate minima and complete the hole search. This approach is inspired by a human\u2019s approach of searching a hole by moving peg in various directions so as to search a point of maximum insertion which is same as the minima in depth profile.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The usage of optimization techniques for hole search allows the robot to work with minimum <jats:italic>a priori<\/jats:italic> information of the working environment. Also, the iterative nature of the techniques adapts to any disturbance during assembly.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The techniques discussed here are quite useful if a force-controlled assembly needs to be performed in a highly unknown environment and also when the assembly setup can get disturbed in between.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The concept is original and provides a non-conventional use of optimization techniques, not for optimization of some process directly but for an industrial robot\u2019s motion planning.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2016-0240","type":"journal-article","created":{"date-parts":[[2017,7,5]],"date-time":"2017-07-05T12:20:48Z","timestamp":1499257248000},"page":"618-628","source":"Crossref","is-referenced-by-count":16,"title":["Peg-In-Hole search using convex optimization techniques"],"prefix":"10.1108","volume":"44","author":[{"given":"Kamal","family":"Sharma","sequence":"first","affiliation":[]},{"given":"Varsha","family":"Shirwalkar","sequence":"additional","affiliation":[]},{"given":"Prabir K.","family":"Pal","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"issue":"2","key":"key2020120609471280900_ref001","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1007\/BF00933827","article-title":"Minimization by coordinate descent","volume":"36","year":"1982","journal-title":"Journal of Optimization Theory and Applications"},{"issue":"6","key":"key2020120609471280900_ref002","doi-asserted-by":"crossref","first-page":"575","DOI":"10.1108\/IR-07-2014-0363","article-title":"Solving peg-in-hole tasks by human demonstration and exception strategies","volume":"41","year":"2014","journal-title":"Industrial Robot: An International Journal"},{"first-page":"1465","article-title":"Search strategies for peg-in-hole assemblies with position uncertainty","year":"2001","key":"key2020120609471280900_ref003"},{"first-page":"2534","article-title":"Localization for robotic assemblies with position uncertainty","year":"2003","key":"key2020120609471280900_ref004"},{"first-page":"3610","article-title":"Particle filtering for localization in robotic assemblies with position uncertainty","year":"2005","key":"key2020120609471280900_ref005"},{"issue":"1\/3","key":"key2020120609471280900_ref006","first-page":"177","article-title":"Convergence of Quasi-Newton matrices generated by the symmetric rank one update","volume":"50","year":"1991","journal-title":"Mathematical Programming"},{"first-page":"1475","article-title":"Learning reactive admittance control","year":"1992","key":"key2020120609471280900_ref007"},{"key":"key2020120609471280900_ref008","unstructured":"Inoue, H. (1974), \u201cForce feedback in precise assembly tasks\u201d, MIT Memo AIM No. 308, available at: https:\/\/dspace.mit.edu\/bitstream\/handle\/1721.1\/6222\/AIM-308.pdf?sequence=2"},{"first-page":"948","article-title":"Active peg-in-hole of chamferless parts using force\/moment sensor","year":"1999","key":"key2020120609471280900_ref009"},{"first-page":"1074","article-title":"Hole detection algorithm for square peg-in-hole using force-based shape recognition","year":"2012","key":"key2020120609471280900_ref010"},{"first-page":"268","article-title":"A neural-network-based flexible assembly controller","year":"1995","key":"key2020120609471280900_ref011"},{"first-page":"571","article-title":"Interpretation of force and moment signals for compliant peg-in-hole assembly","year":"2001","key":"key2020120609471280900_ref012"},{"first-page":"134","article-title":"Fuzzy control of automatic peg-in-hole insertion","year":"1995","key":"key2020120609471280900_ref013"},{"issue":"2","key":"key2020120609471280900_ref014","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1115\/1.3139652","article-title":"Hybrid position\/force control of manipulators","volume":"103","year":"1981","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"key2020120609471280900_ref015","unstructured":"Sharma, K. 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(2001), \u201cA force-guided approach for robotic peg-in-hole assembly\u201d, Doctoral dissertation, Case Western Reserve University."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2016-0240\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-09-2016-0240\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:50Z","timestamp":1753393190000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/44\/5\/618-628\/176951"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,8,21]]},"references-count":21,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2017,8,21]]}},"alternative-id":["10.1108\/IR-09-2016-0240"],"URL":"https:\/\/doi.org\/10.1108\/ir-09-2016-0240","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2017,8,21]]}}}