Haptic peg-in-hole with impedance control (KUKA iiwa)
Context
Graduate research module leading into the master’s thesis comparison of four control modes.
Problem
Stiff position-only teleoperation causes chatter and failed insertion when contact forces spike in tight clearance.
Approach
- KUKA iiwa teleoperated via Touch haptic device with force reflection
- Impedance/compliance on the robot side for safe yielding during contact
Outcome
Stable haptic-guided insertion; validated before benchmarking autonomy, shared control, and learning-based modes in the thesis.
Stack
ROS · Python · Haptics · Impedance control · Motion planning