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

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.