Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information
文献类型：期刊论文
| 作者 | Liu, Song5 ; Xing, Deng-Peng2,3; Li, You-Fu1; Zhang, Jianwei4; Xu, De2,3
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2019-10-01 |
| 卷号 | 24期号:5页码:1974-1985 |
| 关键词 | Force Springs Strain Task analysis Cameras Manipulators Force sensors Hybrid force position control insertion control microscopic vision passive compliance precision assembly |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2019.2932772 |
| 通讯作者 | Li, You-Fu(meyfli@cityu.edu.hk) |
| 英文摘要 | In this article, a robust insertion control method for precision peg-in-hole assembly is developed by visually supervising the deformation of the passive compliance based on microscopic vision and force information. The advantage of the proposed method is the assembly task can be conducted with pose alignment errors since the passive compliance is visually supervised. This significantly decreases the precision requirement for parts alignment and thus contributes to precision assembly. Specifically, the relationship between the contact status among parts and the deformations of the passive compliance is first analyzed. Afterward, the vision-based method to estimate the three-dimensional deformation of the passive compliance is discussed. Finally, a hybrid insertion controller is proposed combining both force and position feedbacks. Experiments were designed to validate the effectiveness of the proposed method and the significance of introducing vision supervision into the insertion process. |
| WOS关键词 | PEG-IN-HOLE ; PARTS |
| 资助项目 | Research Grants Council of Hong Kong[CityU11205015] ; Research Grants Council of Hong Kong[CityU11255716] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000493174900007 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Research Grants Council of Hong Kong |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28860]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Li, You-Fu |
| 作者单位 | 1.City Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 3.Univ Chinese Acad Sci, Beijing, Peoples R China 4.Univ Hamburg, Dept Informat, D-22527 Hamburg, Germany 5.Univ Southern Calif, Dept Elect Engn Eletrophys, Los Angeles, CA 90089 USA |
| 推荐引用方式 GB/T 7714 | Liu, Song,Xing, Deng-Peng,Li, You-Fu,et al. Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(5):1974-1985. |
| APA | Liu, Song,Xing, Deng-Peng,Li, You-Fu,Zhang, Jianwei,&Xu, De.(2019).Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(5),1974-1985. |
| MLA | Liu, Song,et al."Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.5(2019):1974-1985. |
入库方式： OAI收割
来源：自动化研究所
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