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High Precision Automatic Assembly Based on Microscopic Vision and Force Information
Liu, Song; Xu, De; Zhang, Dapeng; Zhang, Zhengtao
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2016
Volume13Issue:1Pages:382-393
SubtypeArticle
AbstractAn 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.
KeywordCalibration Feature Extraction Force Control Image Jacobian Matrix Microscope Precision Assembly Visual Control
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TASE.2014.2332543
WOS KeywordVISUAL SERVO CONTROL ; CALIBRATION ; TASKS
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61227804 ; 61105036 ; 61305115)
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000374443300035
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12219
Collection精密感知与控制研究中心_精密感知与控制
AffiliationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
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.
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