Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Improving Automated Insertion Task in Robotics by Reducing Registration Error



Geraldine S. Cheok, Marek Franaszek, Karl Van Wyk, Jeremy Marvel


A peg-in-hole operation is representative of common tasks performed in assembly lines by robots. It requires registration of the coordinate frame where a part resides to the robot frame. Poor registration causes misalignment of the peg and the hole which will result in a failed insertion of the peg. In this study, the dependence of the outcome of the insertion task on the quality of registration is investigated. It was shown in earlier studies that Restoring Rigid-Body Condition (RRBC) leads to decreased registration error. This study shows the improvement in the Pass/Fail rate when the registration error is reduced. A robot arm operated in position control mode was used to perform the insertion without performing any search algorithms. Conventional, point-based registration and registration based on the RRBC method were used to transform 80 target points from part frame to robot frame. A simple Pass/Fail metric was used to evaluate the effectiveness of the method. The RRBC method yielded substantial reduction in failed insertions, especially for tighter tolerances.
Proceedings Title
9th International Precision Assembly Seminar
Conference Dates
December 13-15, 2020
Conference Location
Kitzbuhel, AT


peg-in-hole experiments, registration, registration error, rigid-body, target registration error


Cheok, G. , Franaszek, M. , Van Wyk, K. and Marvel, J. (2021), Improving Automated Insertion Task in Robotics by Reducing Registration Error, 9th International Precision Assembly Seminar , Kitzbuhel, AT, [online], (Accessed June 22, 2024)


If you have any questions about this publication or are having problems accessing it, please contact

Created April 2, 2021, Updated December 9, 2022