Knowledge Commons of Institute of Automation,CAS
Fine Motion Strategies for Robotic Peg-Hole Insertion | |
Qiao, Hong; Dalay, B. S.; Parkin, R. M.; H Qiao | |
发表期刊 | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
1995 | |
卷号 | 209期号:6页码:429-448 |
摘要 | The robotic assembly operation has a prominent role in industry due to the fact that (a) it accounts for a substantial proportion of production cycle times and (b) it requires high precision. The peg-hole insertion operation, which is a simplified industrial application model, has special prominence. In terms of the hardware, various complex six-component force sensors, passive compliance and vibration systems have been designed for this purpose alone. In the control area, the disturbance filter and real-time control have been applied to the system to enhance performance. Techniques using geometric concepts such as pre-images and back-projections, models of the contact configurations, pattern recognition and fine motion analysis have been studied. The objective of this paper is to illustrate a method that combines these ideas together to solve practical problems. In this paper:
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关键词 | Peg-hole Insertion Contact Configurations Force Sensors Petri Nets Pre-image Back-projection Fine Motion Strategies Robotics |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/12603 |
专题 | 09年以前成果 |
通讯作者 | H Qiao |
作者单位 | Department of Mechanical and Manufacturing Engineering, School of Engineering and Manufacture, De Montfort University, Leicester |
推荐引用方式 GB/T 7714 | Qiao, Hong,Dalay, B. S.,Parkin, R. M.,et al. Fine Motion Strategies for Robotic Peg-Hole Insertion[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,1995,209(6):429-448. |
APA | Qiao, Hong,Dalay, B. S.,Parkin, R. M.,&H Qiao.(1995).Fine Motion Strategies for Robotic Peg-Hole Insertion.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,209(6),429-448. |
MLA | Qiao, Hong,et al."Fine Motion Strategies for Robotic Peg-Hole Insertion".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 209.6(1995):429-448. |
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