Study on dual peg-in-hole insertion using of constraints formed in the environment

doi:10.1108/IR-07-2016-0186

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Study on dual peg-in-hole insertion using of constraints formed in the environment
	Su, Jianhua1 ; Li, Rui1,2 ; Qiao, Hong1,3 ; Xu, Jing 4; Ai, Qinglin 5; Zhu, Jiankang 1
发表期刊	INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
	2017
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
DOI	10.1108/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	被引频次：19[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/173211/20744
专题	多模态人工智能系统全国重点实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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