Precise Robotic Assembly for Large-Scale Objects Based on Automatic Guidance and Alignment

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Precise Robotic Assembly for Large-Scale Objects Based on Automatic Guidance and Alignment
	Qin, Zhengke; Wang, Peng; Sun, Jia; Lu, Jinyan; Qiao, Hong
发表期刊	IEEE Transactions on Instrumentation and Measurement
	2016-02-24
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：40[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	多模态人工智能系统全国重点实验室_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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文件名称/大小	文献类型	版本类型	开放类型	使用许可
preicse assembly.pdf（3581KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览