Precision Assembly Among Multiple Thin Objects With Various Fit Types
Xing, Dengpeng; Xu, De; Liu, Fangfang; Li, Haipeng; Zhang, Zhengtao
2016-02-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号21期号:1页码:364-378
文章类型Article
摘要This paper investigates precision assembly combining several subprocesses on a platform with multiple robot arms. The task manipulates irregular objects and incorporates interference and clearance assemblies. We use a mechanism with six robot arms and three microscopes to fulfill this assignment, and propose a general control strategy to attain high precision and protect objects. System calibration includes the image Jacobian matrix to connect Cartesian motion with the image movement and force transformation matrix to relate between coordinates of force sensor and manipulators. In the control structure, a general strategy is proposed for assembly with multiplemanipulators, in which we present an assembly plan module to generate desired states of each object by using an optimization approach, design a method to determine the collision when blocking, and propose a hybrid control scheme for both contact and clearance assembly controllers. Experiments are carried out to demonstrate the validation of the proposed methods.
关键词Motion Control Precision Assembly Various Fit Types
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2015.2438022
关键词[WOS]VISION ; GRIPPERS
收录类别SCI
语种英语
项目资助者Program for National Nature Science Foundation of China(61305115 ; 61227804 ; 61421004)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000372013900035
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/11367
专题精密感知与控制研究中心_精密感知与控制
作者单位Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
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GB/T 7714
Xing, Dengpeng,Xu, De,Liu, Fangfang,et al. Precision Assembly Among Multiple Thin Objects With Various Fit Types[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(1):364-378.
APA Xing, Dengpeng,Xu, De,Liu, Fangfang,Li, Haipeng,&Zhang, Zhengtao.(2016).Precision Assembly Among Multiple Thin Objects With Various Fit Types.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(1),364-378.
MLA Xing, Dengpeng,et al."Precision Assembly Among Multiple Thin Objects With Various Fit Types".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.1(2016):364-378.
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