An Efficient Insertion Control Method for Precision Assembly of Cylindrical Components

doi:10.1109/TIE.2017.2711551

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	An Efficient Insertion Control Method for Precision Assembly of Cylindrical Components
	Liu, Song1 ; Li, You-Fu 1; Xing, Deng-Peng2 ; Xu, De2 ; Su, Hu2 ; Liu S(刘松)
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2017-12-01
卷号	64 期号:12 页码:9355-9365
文章类型	Article
摘要	In this paper, an efficient insertion control strategy is presented for precision assembly of cylindrical components with interference fit. It has two inherent advantages compared with existing insertion methods in the domain of precision assembly. First, it does not need preparatory actions dedicated for horizontal forces before insertion actions, which is realized by integrating the preparations into the insertion step. Second, instead of inserting with fixed incremental depth, it estimates the insertion depth for every action to be as large as possible with a probabilistic approach. Specifically, the insertion of components is modeled as a stochastic state transition process with the uncertainty described by Gaussian distribution. The state transition function is well defined based on analysis of the historical assembly data and the universal mechanical properties of the components. An assessment function is also elaborately designed to evaluate the performance of the state transition function in order to stimulate the control strategy to behave progressively or conservatively. Finally, the action to be taken for the current state is decided by iterative calculations in N steps estimation manner. An automatic assembly system is developed to verify the effectiveness of the proposed control method. Experimental results show that the assembly process with the proposed insertion control strategy can finish within 30 steps, which is at least four times more efficient than the process with the traditional method.
关键词	Assessment Function Discount Factor Insertion Control Strategy Insertion Depth Estimation Precision Assembly Stochastic State Transition
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TIE.2017.2711551
关键词[WOS]	PARTS
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000413946800018
引用统计	被引频次：23[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/173211/19816
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Liu S(刘松)
作者单位	1.City Univ Hong Kong, Kowloon, Hong Kong, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Liu, Song,Li, You-Fu,Xing, Deng-Peng,et al. An Efficient Insertion Control Method for Precision Assembly of Cylindrical Components[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(12):9355-9365.
APA	Liu, Song,Li, You-Fu,Xing, Deng-Peng,Xu, De,Su, Hu,&刘松.(2017).An Efficient Insertion Control Method for Precision Assembly of Cylindrical Components.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(12),9355-9365.
MLA	Liu, Song,et al."An Efficient Insertion Control Method for Precision Assembly of Cylindrical Components".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.12(2017):9355-9365.

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