Coordinated Insertion Control for Inclined Precision Assembly

doi:10.1109/TIE.2016.2518125

	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
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.

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