High Precision Automatic Assembly Based on Microscopic Vision and Force Information
Liu, Song; Xu, De; Zhang, Dapeng; Zhang, Zhengtao
2016
发表期刊IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷号13期号:1页码:382-393
文章类型Article
摘要An automatic system is developed to realize high precision assembly of two components in the size of mm level with an interference fit in 3-dimensional (3-D) space with 6-degree-of-freedoms (DOF), which consists of a manipulator, an adjusting platform, a sensing system and a computer. The manipulator is employed to align component B to the component A in position. The adjusting platform aligns the component A to component B in orientations and inserts A into B. The sensing system includes three microscopes and a force sensor. The three microscopes are mounted approximately orthogonal to observe components from different directions in the aligning stage. The force sensor is introduced to detect the contact force in assembly process. In the aligning stage, a pose controlmethod based on image Jacobian matrix is proposed. In the insertion stage, a position control method based on the contact force is proposed. The calibration of image Jacobian matrix is also presented. Experimental results demonstrate the effectiveness of the proposed system and methods.
关键词Calibration Feature Extraction Force Control Image Jacobian Matrix Microscope Precision Assembly Visual Control
WOS标题词Science & Technology ; Technology
DOI10.1109/TASE.2014.2332543
关键词[WOS]VISUAL SERVO CONTROL ; CALIBRATION ; TASKS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61227804 ; 61105036 ; 61305115)
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000374443300035
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12219
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, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Liu, Song,Xu, De,Zhang, Dapeng,et al. High Precision Automatic Assembly Based on Microscopic Vision and Force Information[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2016,13(1):382-393.
APA Liu, Song,Xu, De,Zhang, Dapeng,&Zhang, Zhengtao.(2016).High Precision Automatic Assembly Based on Microscopic Vision and Force Information.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,13(1),382-393.
MLA Liu, Song,et al."High Precision Automatic Assembly Based on Microscopic Vision and Force Information".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 13.1(2016):382-393.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
High Precision Autom(2631KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Liu, Song]的文章
[Xu, De]的文章
[Zhang, Dapeng]的文章
百度学术
百度学术中相似的文章
[Liu, Song]的文章
[Xu, De]的文章
[Zhang, Dapeng]的文章
必应学术
必应学术中相似的文章
[Liu, Song]的文章
[Xu, De]的文章
[Zhang, Dapeng]的文章
相关权益政策
暂无数据
收藏/分享
文件名: High Precision Automatic Assembly based on Microscopic Vision and Force Information.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。