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High Precision Automatic Assembly Based on Microscopic Vision and Force Information

文献类型：期刊论文

作者Liu, Song; Xu, De; Zhang, Dapeng; Zhang, Zhengtao
刊名IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
出版日期2016
卷号13期号:1页码:382-393
关键词Calibration Feature Extraction Force Control Image Jacobian Matrix Microscope Precision Assembly Visual Control
DOI10.1109/TASE.2014.2332543
文献子类Article
英文摘要An automatic system is developed to realize high precision assembly of two components in the size of mm level with an interference fit in 3-dimensional (3-D) space with 6-degree-of-freedoms (DOF), which consists of a manipulator, an adjusting platform, a sensing system and a computer. The manipulator is employed to align component B to the component A in position. The adjusting platform aligns the component A to component B in orientations and inserts A into B. The sensing system includes three microscopes and a force sensor. The three microscopes are mounted approximately orthogonal to observe components from different directions in the aligning stage. The force sensor is introduced to detect the contact force in assembly process. In the aligning stage, a pose controlmethod based on image Jacobian matrix is proposed. In the insertion stage, a position control method based on the contact force is proposed. The calibration of image Jacobian matrix is also presented. Experimental results demonstrate the effectiveness of the proposed system and methods.
WOS关键词VISUAL SERVO CONTROL ; CALIBRATION ; TASKS
WOS研究方向Automation & Control Systems
语种英语
WOS记录号WOS:000374443300035
资助机构National Natural Science Foundation of China(61227804 ; 61105036 ; 61305115)
源URL[http://ir.ia.ac.cn/handle/173211/12219]  
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, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Song,Xu, De,Zhang, Dapeng,et al. High Precision Automatic Assembly Based on Microscopic Vision and Force Information[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2016,13(1):382-393.
APA Liu, Song,Xu, De,Zhang, Dapeng,&Zhang, Zhengtao.(2016).High Precision Automatic Assembly Based on Microscopic Vision and Force Information.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,13(1),382-393.
MLA Liu, Song,et al."High Precision Automatic Assembly Based on Microscopic Vision and Force Information".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 13.1(2016):382-393.

入库方式： OAI收割

来源：自动化研究所

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