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          Topic/Subject AreasImproving Positional Accuracy for Robotic Assembly Tasks

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Robot
			The National Institute of Standards and Technology has developed a procedure to reduce the positional error of an object as measured by a perception sensor and relayed to a robot for action.  This reduced positional error improves the quality of assembly tasks such as insertion, picking, part mating, and drilling.  This procedure does not require purchasing additional hardware.Robot
			A description and implementation of the procedure, Restoration of Rigid-Body Condition (RRBC), may be downloaded below.  The improvement in an insertion task using the RRBC method was quantified using peg-in-hole experiments.  These results may also be downloaded below and data from the experiments may be downloaded from this link.Restoration of the Rigid Body Condition (RRBC) Method
Restoration of the Rigid Body Condition (RRBC) Method
This video shows the general procedure to restore the rigid body condition (RRBC) to improve positional accuracy using a peg-in-hole task. [No Audio]PowerPoint Presentations and Handouts

(Handouts are condensed versions of the presentations)

RRBC Method Explained and ResultsPRESENTATION
			HANDOUT1.  Introduction, Step-by-step explanation and illustration of  procedure2.  Results showing improvement when RRBC implemented3.  Full presentation (1 and 2)

Implementing RRBCPRESENTATION
			HANDOUTDescribes System Integrators’ and Users’ responsibilities when
			implementing the RRBC method.
  Manufacturing, Robotics in manufacturing, Agility and adaptability, Dexterous grasping, Navigation / actuation / control and Sensing and perception

    
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Created August 9, 2019, Updated February 3, 2021
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