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
Source PublicationINDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
2017
Volume44Issue:6Pages:730-740
SubtypeArticle
AbstractPurpose - 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.
KeywordAttractive Region Peg-in-hole Sensor-less
WOS HeadingsScience & Technology ; Technology
DOI10.1108/IR-07-2016-0186
WOS KeywordMOTION
Indexed BySCI
Language英语
Funding OrganizationNSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization(U150921) ; Strategic Priority Research Program of the CAS(XDB02080003)
WOS Research AreaEngineering ; Robotics
WOS SubjectEngineering, Industrial ; Robotics
WOS IDWOS:000413936600006
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20744
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
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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