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Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment

文献类型：期刊论文

作者Li, Rui1,2; Qiao, Hong1,2,3
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2017-10-01
卷号22期号:5页码:2218-2228
关键词Attractive Region In Environment (Arie) Flexible Assembly Robotic Assembly System Sensorless Manipulation
DOI10.1109/TMECH.2017.2705180
文献子类Article
英文摘要Automatic assembly with high precision is an essential step in robotic manipulation. It is still a difficult problem due to various complicated requirements, such as less contact force, irregular shapes of the parts, sensing information understanding in complex environment, etc. In the previous work, the concept of attractive region in environment (ARIE) was proposed, which helps to achieve high-precision manipulation with low-precision systems by using the constraints formed by the environment. In this paper, the general relation between the physical space and the configuration space for the robotic assembly system will be analyzed, the strategies of using ARIE to achieve high-precision peg-hole assembly will be provided, and furthermore, practical examples for industrial applications will be given, which further illustrates the usefulness of the concept.
WOS关键词HOLE ALIGNMENT ; PEG ; RECOGNITION ; MECHANISM ; SENSOR
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000413042700029
资助机构National Natural Science Foundation of China(61210009 ; Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02080003) ; Beijing Municipal Science and Technology(D16110400140000 ; Development of Science and Technology of Guangdong Province Special Fund Project Grants(2016B090910001) ; 61627808) ; D161100001416001)
源URL[http://ir.ia.ac.cn/handle/173211/20100]  
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
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200081, Peoples R China
推荐引用方式
GB/T 7714		 Li, Rui,Qiao, Hong. Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(5):2218-2228.
APA Li, Rui,&Qiao, Hong.(2017).Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(5),2218-2228.
MLA Li, Rui,et al."Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.5(2017):2218-2228.

入库方式： OAI收割

来源：自动化研究所

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