High Precision Automatic Assembly Based on Microscopic Vision and Force Information

doi:10.1109/TASE.2014.2332543

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	High Precision Automatic Assembly Based on Microscopic Vision and Force Information
	Liu, Song; Xu, De; Zhang, Dapeng; Zhang, Zhengtao
发表期刊	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2016
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
DOI	10.1109/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	被引频次：71[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12219
专题	中科院工业视觉智能装备工程实验室_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
第一作者单位	精密感知与控制研究中心
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.

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