An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly
文献类型：期刊论文
| 作者 | Qin, Fang-Bo1,2 ; Xu, De1,2; Xing, Deng-Peng1,2; Zhang, Zheng-Tao1,2
|
| 刊名 | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
 |
| 出版日期 | 2017-04-01 |
| 卷号 | 18期号:4页码:471-478 |
| 关键词 | Active Compliance Force Control Learning From Experience Vision Measurement Precision Assembly |
| DOI | 10.1007/s12541-017-0057-9 |
| 文献子类 | Article |
| 英文摘要 | Compliance is essential for precision assembly, which provides motion guidance and damage avoidance. Force control can offer flexible implementation of active compliance for manipulators. In this paper, an active radial compliance method is developed for the insertion task of thin walled millimeter-sized cylinders. A radial force controller is designed to satisfy the contact force constraint in the component's radial directions, which integrates the explicit force control with the high precision attitude measurement based on microscopic vision. An anisotropic stiffness learning method is proposed based on clustering and support vector machines. It can obtain the hidden anisotropic stiffness characteristics of the mechanical system from experience data. Experimental results verify the effectiveness of the proposed methods. |
| WOS关键词 | ROBOT MANIPULATORS ; FORCE CONTROL ; MICROGRIPPER ; ENVIRONMENT |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000399128900001 |
| 资助机构 | National Natural Science Foundation of China(61421004 ; 61227804 ; 61673382 ; 61305115 ; 61503378) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/15086]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Comp & Control Engn, Beijing 101408, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qin, Fang-Bo,Xu, De,Xing, Deng-Peng,et al. An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly[J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,2017,18(4):471-478. |
| APA | Qin, Fang-Bo,Xu, De,Xing, Deng-Peng,&Zhang, Zheng-Tao.(2017).An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly.INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,18(4),471-478. |
| MLA | Qin, Fang-Bo,et al."An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly".INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 18.4(2017):471-478. |
入库方式： OAI收割
来源：自动化研究所
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