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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
Source PublicationINTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
2017-04-01
Volume18Issue:4Pages:471-478
SubtypeArticle
AbstractCompliance 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.
KeywordActive Compliance Force Control Learning From Experience Vision Measurement Precision Assembly
WOS HeadingsScience & Technology ; Technology
DOI10.1007/s12541-017-0057-9
WOS KeywordROBOT MANIPULATORS ; FORCE CONTROL ; MICROGRIPPER ; ENVIRONMENT
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61421004 ; 61227804 ; 61673382 ; 61305115 ; 61503378)
WOS Research AreaEngineering
WOS SubjectEngineering, Manufacturing ; Engineering, Mechanical
WOS IDWOS:000399128900001
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15086
Collection精密感知与控制研究中心_精密感知与控制
Affiliation1.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
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
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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