Condition and Strategy Analysis for Assembly Based on Attractive Region in Environment
Li, Rui1,2; Qiao, Hong1,2,3
AbstractAutomatic 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.
KeywordAttractive Region In Environment (Arie) Flexible Assembly Robotic Assembly System Sensorless Manipulation
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000413042700029
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Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.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
Recommended Citation
GB/T 7714
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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