High-precision robotic assembly system using three-dimensional vision
文献类型：期刊论文
| 作者 | Yan, Shaohua1,2 ; Tao, Xian1,2; Xu, De1,2
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2021-05-01 |
| 卷号 | 18期号:3页码:12 |
| 关键词 | 3D vision feature extraction pose estimation hybrid visual servoing robotic assembly system |
| ISSN号 | 1729-8814 |
| DOI | 10.1177/17298814211027029 |
| 通讯作者 | Tao, Xian(taoxian2013@ia.ac.cn) |
| 英文摘要 | The design of a high-precision robot assembly system is a great challenge. In this article, a robotic assembly system is developed to assemble two components with six degree-of-freedoms in three-dimensional space. It consists of two manipulators, a structured light camera which is mounted on the end-effector aside component A to measure the pose of component B. Firstly, the features of irregular components are extracted based on U-NET network training with few labeled images. Secondly, an algorithm is proposed to calculate the pose of component B based on the image features and the corresponding three-dimensional coordinates on its ellipse surface. Thirdly, the six errors including two position errors and one orientation error in image space, and one position error and two orientation errors in Cartesian space are computed to control the motions of component A to align with component B. The hybrid visual servoing method is used in the control system. The experimental results verify the effectiveness of the designed system. |
| WOS关键词 | SERVO CONTROL |
| 资助项目 | National Key Research and Development Program of China[2018AAA0103004] ; National Natural Science Foundation of China[61873266] ; Beijing Municipal Natural Science Foundation[4212044] ; Science and Technology Program of Beijing Municipal Science and Technology Commission[Z191100008019004] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000691289300001 |
| 出版者 | SAGE PUBLICATIONS INC |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation ; Science and Technology Program of Beijing Municipal Science and Technology Commission |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45884]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Tao, Xian |
| 作者单位 | 1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100080, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yan, Shaohua,Tao, Xian,Xu, De. High-precision robotic assembly system using three-dimensional vision[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18(3):12. |
| APA | Yan, Shaohua,Tao, Xian,&Xu, De.(2021).High-precision robotic assembly system using three-dimensional vision.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18(3),12. |
| MLA | Yan, Shaohua,et al."High-precision robotic assembly system using three-dimensional vision".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18.3(2021):12. |
入库方式： OAI收割
来源：自动化研究所
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