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Precision Assembly Among Multiple Thin Objects With Various Fit Types
Xing, Dengpeng; Xu, De; Liu, Fangfang; Li, Haipeng; Zhang, Zhengtao
AbstractThis 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.
KeywordMotion Control Precision Assembly Various Fit Types
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationProgram for National Nature Science Foundation of China(61305115 ; 61227804 ; 61421004)
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000372013900035
Citation statistics
Cited Times:17[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
AffiliationChinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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