中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Digital Twin Driven Measurement in Robotic Flexible Printed Circuit Assembly

文献类型:期刊论文

作者Yang Minghao1,3; Huang Zhenping1,4; Sun Yangchang1,3; Zhao Yongjia2; Sun Ruize2; Sun Qi7; Chen JinLong4; Qiang BaoHua4; Wang JingHong6; Sun FuChun5
刊名IEEE Transactions on Instrumentation & Measurement
出版日期2023-02-20
卷号72页码:5007812
英文摘要

Nowadays, robots have been widely used in various manufacturing assemblies. However, in the mobile phone flexible printed circuit (FPC) assembly task, robots are still far from trustworthy because the connector and receiver of FPC are very small in size, and detection for them is influenced by the partial occlusion of the robot end manipulator in operation. This makes it difficult to measure the spatial relationship between the connector and receiver in robot picking and buckling. To this end, this work proposes a Digit Twin (DT)-driven measurement method for partial occlusion FPC assembly. The contributions include: (1) we introduce a homography-based strategy to calibrate the FPC placement panel and its virtual placement panel in digit twin. It makes the partial occlusion views in physical space visible in digital twin within tolerable errors. This helps to improve the measurement by eliminating the observation occlusion which originally exits in physical space; (2) we propose a DT-driven reward function measured by the distance and rotation difference between the FPC connector hold by the manipulator and its ideal position in the digital twin. This makes the deep architecture can learn the actions guided by the measurements of the FPC positions in physical space and digital twin simultaneously. The experiments are carried out on a practical assembly platform for the mobile phone Redmi Note 11. With the number of failed trails limited, the proposed network obviously outperforms the pure vision-based measurement and the network without DT support. The proposed method provides a primitive but novel measurement strategy for mobile phone FPC assembly. It can be applied to the real mobile phone assembly lines to reduce the labor burden in the near future.

语种英语
源URL[http://ir.ia.ac.cn/handle/173211/57531]  
专题类脑智能研究中心_微观重建与智能分析
通讯作者Yang Minghao
作者单位1.the Research Center for Brain-Inspired Intelligence (BII), Institute of Automation, Chinese Academy of Sciences (CASIA)
2.the Beihang University
3.the University of Chinese Academy of Sciences
4.the Guilin University of Electronic Science and Technology
5.the Department of Computer Science and Technology of Tsinghua University
6.the School of Computer and Cyberspace Security, Hebei Normal University
7.the School of Information Engineering, Zhejiang Sci-Tech University
推荐引用方式
GB/T 7714
Yang Minghao,Huang Zhenping,Sun Yangchang,et al. Digital Twin Driven Measurement in Robotic Flexible Printed Circuit Assembly[J]. IEEE Transactions on Instrumentation & Measurement,2023,72:5007812.
APA Yang Minghao.,Huang Zhenping.,Sun Yangchang.,Zhao Yongjia.,Sun Ruize.,...&Sun FuChun.(2023).Digital Twin Driven Measurement in Robotic Flexible Printed Circuit Assembly.IEEE Transactions on Instrumentation & Measurement,72,5007812.
MLA Yang Minghao,et al."Digital Twin Driven Measurement in Robotic Flexible Printed Circuit Assembly".IEEE Transactions on Instrumentation & Measurement 72(2023):5007812.

入库方式: OAI收割

来源:自动化研究所

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