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Study on dual peg-in-hole insertion using of constraints formed in the environment

文献类型：期刊论文

作者Su, Jianhua1; Li, Rui1,2; Qiao, Hong1,3; Xu, Jing4; Ai, Qinglin5; Zhu, Jiankang1
刊名INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
出版日期2017
卷号44期号:6页码:730-740
关键词Attractive Region Peg-in-hole Sensor-less
DOI10.1108/IR-07-2016-0186
文献子类Article
英文摘要Purpose - The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two-or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space.
WOS关键词MOTION
WOS研究方向Engineering ; Robotics
语种英语
WOS记录号WOS:000413936600006
资助机构NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization(U150921) ; Strategic Priority Research Program of the CAS(XDB02080003)
源URL[http://ir.ia.ac.cn/handle/173211/20744]  
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, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Inst Neurosci, Shanghai, Peoples R China
4.Tsinghua Univ, Lee Shau Kee Sci & Technol Bldg, Beijing, Peoples R China
5.Zhejiang Univ Technol, Coll Mech Engn, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Su, Jianhua,Li, Rui,Qiao, Hong,et al. Study on dual peg-in-hole insertion using of constraints formed in the environment[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2017,44(6):730-740.
APA Su, Jianhua,Li, Rui,Qiao, Hong,Xu, Jing,Ai, Qinglin,&Zhu, Jiankang.(2017).Study on dual peg-in-hole insertion using of constraints formed in the environment.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,44(6),730-740.
MLA Su, Jianhua,et al."Study on dual peg-in-hole insertion using of constraints formed in the environment".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 44.6(2017):730-740.

入库方式： OAI收割

来源：自动化研究所

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