Study on dual peg-in-hole insertion using of constraints formed in the environment
Su, Jianhua1; Li, Rui1,2; Qiao, Hong1,3; Xu, Jing4; Ai, Qinglin5; Zhu, Jiankang1
2017
发表期刊INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
卷号44期号:6页码:730-740
文章类型Article
摘要Purpose - The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two-or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space.
关键词Attractive Region Peg-in-hole Sensor-less
WOS标题词Science & Technology ; Technology
DOI10.1108/IR-07-2016-0186
关键词[WOS]MOTION
收录类别SCI
语种英语
项目资助者NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization(U150921) ; Strategic Priority Research Program of the CAS(XDB02080003)
WOS研究方向Engineering ; Robotics
WOS类目Engineering, Industrial ; Robotics
WOS记录号WOS:000413936600006
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20744
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, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Inst Neurosci, Shanghai, Peoples R China
4.Tsinghua Univ, Lee Shau Kee Sci & Technol Bldg, Beijing, Peoples R China
5.Zhejiang Univ Technol, Coll Mech Engn, Beijing, Peoples R China
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Su, Jianhua,Li, Rui,Qiao, Hong,et al. Study on dual peg-in-hole insertion using of constraints formed in the environment[J]. INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,2017,44(6):730-740.
APA Su, Jianhua,Li, Rui,Qiao, Hong,Xu, Jing,Ai, Qinglin,&Zhu, Jiankang.(2017).Study on dual peg-in-hole insertion using of constraints formed in the environment.INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL,44(6),730-740.
MLA Su, Jianhua,et al."Study on dual peg-in-hole insertion using of constraints formed in the environment".INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 44.6(2017):730-740.
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