Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment
Li, Rui1,2; Qiao, Hong1,2,3
2017-10-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号22期号:5页码:2218-2228
文章类型Article
摘要Automatic assembly with high precision is an essential step in robotic manipulation. It is still a difficult problem due to various complicated requirements, such as less contact force, irregular shapes of the parts, sensing information understanding in complex environment, etc. In the previous work, the concept of attractive region in environment (ARIE) was proposed, which helps to achieve high-precision manipulation with low-precision systems by using the constraints formed by the environment. In this paper, the general relation between the physical space and the configuration space for the robotic assembly system will be analyzed, the strategies of using ARIE to achieve high-precision peg-hole assembly will be provided, and furthermore, practical examples for industrial applications will be given, which further illustrates the usefulness of the concept.
关键词Attractive Region In Environment (Arie) Flexible Assembly Robotic Assembly System Sensorless Manipulation
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2017.2705180
关键词[WOS]HOLE ALIGNMENT ; PEG ; RECOGNITION ; MECHANISM ; SENSOR
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61210009 ; Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02080003) ; Beijing Municipal Science and Technology(D16110400140000 ; Development of Science and Technology of Guangdong Province Special Fund Project Grants(2016B090910001) ; 61627808) ; D161100001416001)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000413042700029
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文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20100
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200081, Peoples R China
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Li, Rui,Qiao, Hong. Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(5):2218-2228.
APA Li, Rui,&Qiao, Hong.(2017).Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(5),2218-2228.
MLA Li, Rui,et al."Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.5(2017):2218-2228.
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