Robotic grasping and assembly of screws based on visual servoing using point features
文献类型：期刊论文
| 作者 | Hao, Tiantian1,2 ; Xu, De1,2
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
 |
| 出版日期 | 2023-11-02 |
| 页码 | 13 |
| ISSN号 | 0268-3768 |
| 关键词 | Feature extraction Image-based visual servoing Position alignment Robotic grasping Robotic assembly |
| DOI | 10.1007/s00170-023-12562-z |
| 通讯作者 | Xu, De(de.xu@ia.ac.cn) |
| 英文摘要 | The robotic assembly of screws is the basic task for the automation assembly of complex equipment. However, a complete robotic assembly framework is difficult to be designed due to the integration of multiple technologies to achieve efficient and stable operations. In this paper, a robotic assembly workflow is proposed, which mainly consists of a feature extraction stage, a grasping stage, and an installation stage. In the feature extraction stage, a feature extraction algorithm consisting of a semantic segmentation network and an object classification module is designed. The semantic segmentation network segments the areas of multiple categories' objects, and the object classification module selects an appropriate target object. The grasping stage and installation stage involve the position alignment of the objects. A position alignment method is developed based on image-based visual servoing using the point features extracted from the segmented areas. The experiments are conducted on a real robot. The alignment errors in grasping stage are less 0.53 mm. The assemblies for a M6-sized screw in ten experiments are successful. The experiment results verify the effectiveness of the proposed method. |
| WOS关键词 | CALIBRATION |
| 资助项目 | National Natural Science Foundation of China[62273341] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| 出版者 | SPRINGER LONDON LTD |
| WOS记录号 | WOS:001093273300003 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54403]  |
| 专题 | 中科院工业视觉智能装备工程实验室 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Xu, De |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, CAS Engn Lab Intelligent Ind Vis, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Hao, Tiantian,Xu, De. Robotic grasping and assembly of screws based on visual servoing using point features[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,2023:13. |
| APA | Hao, Tiantian,&Xu, De.(2023).Robotic grasping and assembly of screws based on visual servoing using point features.INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,13. |
| MLA | Hao, Tiantian,et al."Robotic grasping and assembly of screws based on visual servoing using point features".INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY (2023):13. |
入库方式： OAI收割
来源：自动化研究所
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