Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly
文献类型：期刊论文
| 作者 | Xing, Dengpeng1,2 ; Liu, Fangfang1,2; Xu, De1,2
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
 |
| 出版日期 | 2020-09-01 |
| 卷号 | 16期号:9页码:5814-5824 |
| ISSN号 | 1551-3203 |
| 关键词 | Efficient inclined insertion force prediction inclination estimation precision assembly |
| DOI | 10.1109/TII.2019.2956972 |
| 通讯作者 | Liu, Fangfang(fangfang.liu@ia.ac.cn) |
| 英文摘要 | This article proposes an efficient insertion strategy for inclined precision assembly. According to the characteristics of the inclined insertion, the radial force between objects is separated into three parts: the force due to insertion, the force retained from previous compensation, and the force caused by estimation error of object inclination. We employ Gaussian distribution to model the probability of the radial force in insertion and predict the future contact based on the current force and the compensation movement. Object inclination is online estimated by peeling off the forces not related with inclination and investigating the relationship between inclination difference and radial force error. The insertion of the lower object is originated from the parameter iteratively updated by past performance, the current assessment depicting the current state, the confidence on future execution, and the coordinated motion of the upper object is then planned based on the inclined insertion, the estimated inclination, and the force to be compensated. Experiments are carried out to demonstrate the validation of the proposed method. |
| WOS关键词 | INSERTION ; VISION ; OBJECTS |
| 资助项目 | Science Challenge Project[TZ2018006-0204-02] ; National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61733004] ; National Nature Science Foundation of China[TII-19-3398] |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000542966300017 |
| 资助机构 | Science Challenge Project ; National Nature Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/40031]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Liu, Fangfang |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100195, Peoples R China 2.Univ Chinese Acad Sci, Beijing 101407, Peoples R China |
| 推荐引用方式 GB/T 7714 | Xing, Dengpeng,Liu, Fangfang,Xu, De. Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(9):5814-5824. |
| APA | Xing, Dengpeng,Liu, Fangfang,&Xu, De.(2020).Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(9),5814-5824. |
| MLA | Xing, Dengpeng,et al."Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.9(2020):5814-5824. |
入库方式： OAI收割
来源：自动化研究所
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