Contact Force/Torque Prediction and Analysis Model for Large Length-diameter Ratio Peg-in-hole Assembly
Yuchen Wang1; Peng Wang2; Changchun Liu3; Gaoming Hao2; Zhao Xiong3; Xusong Quan3; Xiaodong Yuan3; Hai Zhou3
2018-12
会议名称2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期2018.12.12-2018.12.15
会议地点马来西亚
出版者IEEE
摘要

Large length-diameter ratio peg-in-hole assembly is a hard and significant issue in modern industry. The prediction and control of the contact force/torque play a crucial part in flexible assembly. They ensure that the contact force/torque data are within limits in assembly process, which can prevent jam and protect devices. In this paper, we propose a novel contact force/torque prediction and analysis model to solve the large length-diameter ratio peg-in-hole assembly problem in which the contact states are difficult to be obtained. Firstly, we establish a new force/torque prediction model with measured data to obtain the precision actual contact force/torque which is critical for assembly control. Then, a new contact analysis model for large length-diameter ratio peg-in-hole assembly is built to estimate the assembly contact states. At last, based on the proposed contact force/torque prediction and analysis model, we design a robot pose adjustment strategy for large length-diameter ratio peg-in-hole assembly. Experiment results demonstrate that the proposed model can meet the demands of large length-diameter ratio peg-in-hole assembly. The predicted error rates of force/torque are lower than 1% and the mean force/torque in assembly process are lower than 5 N / 0.5 N·m by our model.

收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23688
专题智能制造技术与系统研究中心_智能机器人
通讯作者Peng Wang
作者单位1.the University of Chinese Academy of Sciences, the Institute of Automation, Chinese Academy of Sciences
2.the Institute of Automation, Chinese Academy of Sciences
3.the Research Center of Laser Fusion, China Academy of Engineering Physics
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Yuchen Wang,Peng Wang,Changchun Liu,et al. Contact Force/Torque Prediction and Analysis Model for Large Length-diameter Ratio Peg-in-hole Assembly[C]:IEEE,2018.
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