Precise Robotic Assembly for Large-Scale Objects Based on Automatic Guidance and Alignment
Qin, Zhengke; Wang, Peng; Sun, Jia; Lu, Jinyan; Qiao, Hong
2016-02-24
发表期刊IEEE Transactions on Instrumentation and Measurement
卷号65期号:6页码:1398 - 1411
摘要
A precise robotic assembly for large-scale objects is an important application in manufacture. In this paper, we design a new assembly system for large-scale objects based on automatic guidance and alignment with two cameras and three laser distance sensors. The corresponding strategy consists of three stages. First, the object is guided from a remote position to a close one based on our proposed link-line model-based polygon detection and Computer Aided Design (CAD) - View method. Second, the object is aligned to the installation framework based on the proposed visual and laser alignment method. Finally, the object is automatically inserted into the installation framework. An accurate easily applying and close-loop hand-eye calibration method is also proposed. The proposed assembly system has high assembly precision and efficiency. In our test for a 710 mm × 625 mm optical module, the maximum 6-DOF localization error of guidance and alignment is 0.53 mm in translation and 0.10° in orientation. The mechanical constraint-based controlling accuracy, i.e., the final assembly accuracy, is up to 0.2 mm in translation.
关键词Assembly Laser Distance Sensor (Lds) Robotics Vision-guidance
WOS记录号WOS:000377896100012
引用统计
被引频次:6[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14760
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
作者单位Institute of Automation, Chinese Academy of Science
推荐引用方式
GB/T 7714
Qin, Zhengke,Wang, Peng,Sun, Jia,et al. Precise Robotic Assembly for Large-Scale Objects Based on Automatic Guidance and Alignment[J]. IEEE Transactions on Instrumentation and Measurement,2016,65(6):1398 - 1411.
APA Qin, Zhengke,Wang, Peng,Sun, Jia,Lu, Jinyan,&Qiao, Hong.(2016).Precise Robotic Assembly for Large-Scale Objects Based on Automatic Guidance and Alignment.IEEE Transactions on Instrumentation and Measurement,65(6),1398 - 1411.
MLA Qin, Zhengke,et al."Precise Robotic Assembly for Large-Scale Objects Based on Automatic Guidance and Alignment".IEEE Transactions on Instrumentation and Measurement 65.6(2016):1398 - 1411.
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