Coordinated Insertion Control for Inclined Precision Assembly
Xing, Dengpeng; Liu, Fangfang; Qin, Fangbo; Xu, De
2016-05-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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
DOI10.1109/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
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
[Xing, Dengpeng]的文章
[Liu, Fangfang]的文章
[Qin, Fangbo]的文章
百度学术
百度学术中相似的文章
[Xing, Dengpeng]的文章
[Liu, Fangfang]的文章
[Qin, Fangbo]的文章
必应学术
必应学术中相似的文章
[Xing, Dengpeng]的文章
[Liu, Fangfang]的文章
[Qin, Fangbo]的文章
相关权益政策
暂无数据
收藏/分享
文件名: TIE16.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。