Robotic assembly system guided by multiple vision and laser sensors for large scale components

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

	Robotic assembly system guided by multiple vision and laser sensors for large scale components
	Wang, Peng1 ; Qin, Zhengke1 ; Xiong, Zhao 2; Lu, Jinyan1 ; Xu, De1 ; Yuan, Xiaodong 2; Liu, Changchun 2
	2015-12
会议名称	Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
会议日期	6-9 Dec. 2015
会议地点	Zhuhai, China
摘要	The assembly of large scale components are still challenging tasks due to the heavy weights of the objects, and the requirements of high precision and high efficiency. Therefore, the design of robotic assembly system for large scale components, and the studies on the corresponding methods and strategies are still very important and very urgent. In this paper, we design a new robotic assembly system for large scale components guided by two vision sensors and three 1-D laser sensors. Novel high precision localization and alignment methods are proposed to automatically localize the components and search the best three-dimensional position and orientation between the object and the installation location. Experimental results show that the system can well complete the assembly task for large scale components automatically, including automatic detection and localization, automatic grasping, automatic guidance, and automatically insertion, with high precision and high efficiency.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/14763
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
通讯作者	Wang, Peng
作者单位	1.Institute of Automaton, Chinese Academy of Science 2.Research Center of Laser Fusion, China Academy of Engineering Physics
推荐引用方式 GB/T 7714	Wang, Peng,Qin, Zhengke,Xiong, Zhao,et al. Robotic assembly system guided by multiple vision and laser sensors for large scale components[C],2015.

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