中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 中科院工业视觉智能装备工程实验室
  5. 精密感知与控制
Precision Assembly Among Multiple Thin Objects With Various Fit Types

文献类型：期刊论文

作者Xing, Dengpeng; Xu, De; Liu, Fangfang; Li, Haipeng; Zhang, Zhengtao
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2016-02-01
卷号21期号:1页码:364-378
关键词Motion Control Precision Assembly Various Fit Types
DOI10.1109/TMECH.2015.2438022
文献子类Article
英文摘要This paper investigates precision assembly combining several subprocesses on a platform with multiple robot arms. The task manipulates irregular objects and incorporates interference and clearance assemblies. We use a mechanism with six robot arms and three microscopes to fulfill this assignment, and propose a general control strategy to attain high precision and protect objects. System calibration includes the image Jacobian matrix to connect Cartesian motion with the image movement and force transformation matrix to relate between coordinates of force sensor and manipulators. In the control structure, a general strategy is proposed for assembly with multiplemanipulators, in which we present an assembly plan module to generate desired states of each object by using an optimization approach, design a method to determine the collision when blocking, and propose a hybrid control scheme for both contact and clearance assembly controllers. Experiments are carried out to demonstrate the validation of the proposed methods.
WOS关键词VISION ; GRIPPERS
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000372013900035
资助机构Program for National Nature Science Foundation of China(61305115 ; 61227804 ; 61421004)
源URL[http://ir.ia.ac.cn/handle/173211/11367]  
专题精密感知与控制研究中心_精密感知与控制
作者单位Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Xing, Dengpeng,Xu, De,Liu, Fangfang,et al. Precision Assembly Among Multiple Thin Objects With Various Fit Types[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(1):364-378.
APA Xing, Dengpeng,Xu, De,Liu, Fangfang,Li, Haipeng,&Zhang, Zhengtao.(2016).Precision Assembly Among Multiple Thin Objects With Various Fit Types.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(1),364-378.
MLA Xing, Dengpeng,et al."Precision Assembly Among Multiple Thin Objects With Various Fit Types".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.1(2016):364-378.

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。