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.

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.

Data e Risorse

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identifier 6BC6DDA74AD3283CE053245706819E221921
landingPage https://www.nist.gov/el/intelligent-systems-division-73500/peg-hole-data
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license https://www.nist.gov/open/license
modified 2018-05-08
programCode {006:045}
publisher National Institute of Standards and Technology
references {http://dx.doi.org/10.6028/NIST.IR.8198r1,http://dx.doi.org/10.6028/NIST.IR.8180}
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  • amerigeo
  • amerigeoss
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  • manufacturing
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  • north-america
  • peg-in-hole-experiments
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  • target-registration-error
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maintainer Geraldine Cheok
maintainer_email cheok@nist.gov
metadata_created 2025-11-21T20:34:37.331049
metadata_modified 2025-11-21T20:34:37.331054
notes 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.
num_resources 1
num_tags 16
title Data and Results from Three Peg-in-Hole Experiments for Improving Insertion Tasks