An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly
Qin, Fang-Bo1,2; Xu, De1,2; Xing, Deng-Peng1,2; Zhang, Zheng-Tao1,2
2017-04-01
发表期刊INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
卷号18期号:4页码:471-478
文章类型Article
摘要Compliance is essential for precision assembly, which provides motion guidance and damage avoidance. Force control can offer flexible implementation of active compliance for manipulators. In this paper, an active radial compliance method is developed for the insertion task of thin walled millimeter-sized cylinders. A radial force controller is designed to satisfy the contact force constraint in the component's radial directions, which integrates the explicit force control with the high precision attitude measurement based on microscopic vision. An anisotropic stiffness learning method is proposed based on clustering and support vector machines. It can obtain the hidden anisotropic stiffness characteristics of the mechanical system from experience data. Experimental results verify the effectiveness of the proposed methods.
关键词Active Compliance Force Control Learning From Experience Vision Measurement Precision Assembly
WOS标题词Science & Technology ; Technology
DOI10.1007/s12541-017-0057-9
关键词[WOS]ROBOT MANIPULATORS ; FORCE CONTROL ; MICROGRIPPER ; ENVIRONMENT
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61421004 ; 61227804 ; 61673382 ; 61305115 ; 61503378)
WOS研究方向Engineering
WOS类目Engineering, Manufacturing ; Engineering, Mechanical
WOS记录号WOS:000399128900001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15086
专题精密感知与控制研究中心_精密感知与控制
作者单位1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Comp & Control Engn, Beijing 101408, Peoples R China
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Qin, Fang-Bo,Xu, De,Xing, Deng-Peng,et al. An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly[J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,2017,18(4):471-478.
APA Qin, Fang-Bo,Xu, De,Xing, Deng-Peng,&Zhang, Zheng-Tao.(2017).An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly.INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING,18(4),471-478.
MLA Qin, Fang-Bo,et al."An Active Radial Compliance Method with Anisotropic Stiffness Learning for Precision Assembly".INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 18.4(2017):471-478.
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