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Coordinated Insertion Control for Inclined Precision Assembly
Xing, Dengpeng; Liu, Fangfang; Qin, Fangbo; Xu, De
AbstractThis 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.
KeywordCoordinated Control Inclined Insertion Precision Assembly
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationNational Natural Science Foundation of China(61305115 ; 61227804 ; 61421004)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000374164600032
Citation statistics
Cited Times:11[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
AffiliationChinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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