Robotic assembly system guided by multiple vision and laser sensors for large scale components
文献类型：会议论文
| 作者 | Wang, Peng1 ; Qin, Zhengke1; Xiong, Zhao2; Lu, Jinyan1; Xu, De1; Yuan, Xiaodong2; Liu, Changchun2
|
| 出版日期 | 2015-12 |
| 会议日期 | 6-9 Dec. 2015 |
| 会议地点 | Zhuhai, China |
| 英文摘要 |
The assembly of large scale components are still challenging tasks due to the heavy weights of the objects, and the requirements of high precision and high efficiency. Therefore, the design of robotic assembly system for large scale components, and the studies on the corresponding methods and strategies are still very important and very urgent. In this paper, we design a new robotic assembly system for large scale components guided by two vision sensors and three 1-D laser sensors. Novel high precision localization and alignment methods are proposed to automatically localize the components and search the best three-dimensional position and orientation between the object and the installation location. Experimental results show that the system can well complete the assembly task for large scale components automatically, including automatic detection and localization, automatic grasping, automatic guidance, and automatically insertion, with high precision and high efficiency. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14763]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 通讯作者 | Wang, Peng |
| 作者单位 | 1.Institute of Automaton, Chinese Academy of Science 2.Research Center of Laser Fusion, China Academy of Engineering Physics |
| 推荐引用方式 GB/T 7714 | Wang, Peng,Qin, Zhengke,Xiong, Zhao,et al. Robotic assembly system guided by multiple vision and laser sensors for large scale components[C]. 见:. Zhuhai, China. 6-9 Dec. 2015. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。