Coordinated Insertion Control for Inclined Precision Assembly | |
Xing, Dengpeng![]() ![]() | |
发表期刊 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
![]() |
2016-05-01 | |
卷号 | 63期号:5页码:2990-2999 |
文章类型 | Article |
摘要 | This paper proposes a hybrid control strategy to coordinate inclined insertion for precision assembly, in order to increase the capability of dealing with disturbances. Precision assembly requires accurate manipulation, while due to perturbations, objects may be initiated with deviated posture and hold this deviation during insertion. To improve the assembly robustness to inclination, we develop a coordination structure: compensational motions for the mismatch between inclined posture and insertion direction by using kinematics and image Jacobian matrix methods; contact force acquisition to handle the indirect posture measurement between force sensor and inclined object, by taking advantage of the microimaging characteristics; and a hybrid coordinated insertion strategy to deal with the insufficient degree-of-freedom (DOF) allocation on each arm, applicable for assemblies in interference fit or clearance fit. Experiments are carried out to demonstrate the effectiveness of the proposed methods. |
关键词 | Coordinated Control Inclined Insertion Precision Assembly |
WOS标题词 | Science & Technology ; Technology |
DOI | 10.1109/TIE.2016.2518125 |
收录类别 | SCI |
语种 | 英语 |
项目资助者 | National Natural Science Foundation of China(61305115 ; 61227804 ; 61421004) |
WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:000374164600032 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/12222 |
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 |
推荐引用方式 GB/T 7714 | Xing, Dengpeng,Liu, Fangfang,Qin, Fangbo,et al. Coordinated Insertion Control for Inclined Precision Assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(5):2990-2999. |
APA | Xing, Dengpeng,Liu, Fangfang,Qin, Fangbo,&Xu, De.(2016).Coordinated Insertion Control for Inclined Precision Assembly.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(5),2990-2999. |
MLA | Xing, Dengpeng,et al."Coordinated Insertion Control for Inclined Precision Assembly".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.5(2016):2990-2999. |
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 | ||
TIE16.pdf(1267KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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。
修改评论