CASIA OpenIR  > 精密感知与控制研究中心  > 精密感知与控制
Automatic precision robot assembly system with microscopic vision and force sensor
Ma, Yanqin1,2,3; Du, Kai3; Zhou, Dongfeng4; Zhang, Juan3; Liu, Xilong1,2; Xu, De1,2
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8814
2019-06-13
Volume16Issue:3Pages:15
Corresponding AuthorXu, De(de.xu@ia.ac.cn)
AbstractAn automatic precision robot assembly system is established. The robot assembly system mainly consists of an industrial robot, three cameras, a micro force sensor, and a specific gripper. The industrial robot is a six-axis serial manipulator, which is used to conduct grasping and assembly subtasks. Two microscopic cameras are fixed on two high accuracy translational platforms to provide visual information in aligning stage for assembly. While one conventional camera is installed on the robotic end effector to guide the gripper to grasp component. The micro force sensor is installed on the robotic end effector to perceive the contacted forces in inserting stage. According to the characteristics of components, an adsorptive gripper is designed to pick up components. In addition, a three-stage "aligning-approaching-grasping" control strategy for grasping subtask and a two-stage "aligning-inserting" control strategy for assembly subtask are proposed. Position offset compensation is computed and introduced into aligning stage for assembly to make the grasped component in the microscopic cameras' small field of view. Finally, based on the established robot assembly system and the proposed control strategies, the assembly tasks including grasping and assembly are carried out automatically. With 30 grasping experiments, the success rate is 100%. Besides, the position and orientation alignment errors of pose alignment for assembly are less than 20 mu m and 0.1 degrees.
KeywordGrasping aligning visual servoing precision assembly robot system
DOI10.1177/1729881419851619
WOS KeywordCALIBRATION ; OBJECTS ; TASKS
Indexed BySCI
Language英语
Funding ProjectScience Challenge Project[TZ2018006-0204] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61873266] ; National Natural Science Foundation of China[61703398] ; National Natural Science Foundation of China[61803354]
Funding OrganizationScience Challenge Project ; National Natural Science Foundation of China
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000471778900001
PublisherSAGE PUBLICATIONS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26037
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorXu, De
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
3.China Acad Engn Phys, Res Ctr Laser Fus, Mianyang, Sichuan, Peoples R China
4.China Univ Min & Technol, Beijing, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Ma, Yanqin,Du, Kai,Zhou, Dongfeng,et al. Automatic precision robot assembly system with microscopic vision and force sensor[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2019,16(3):15.
APA Ma, Yanqin,Du, Kai,Zhou, Dongfeng,Zhang, Juan,Liu, Xilong,&Xu, De.(2019).Automatic precision robot assembly system with microscopic vision and force sensor.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,16(3),15.
MLA Ma, Yanqin,et al."Automatic precision robot assembly system with microscopic vision and force sensor".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 16.3(2019):15.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Ma, Yanqin]'s Articles
[Du, Kai]'s Articles
[Zhou, Dongfeng]'s Articles
Baidu academic
Similar articles in Baidu academic
[Ma, Yanqin]'s Articles
[Du, Kai]'s Articles
[Zhou, Dongfeng]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Ma, Yanqin]'s Articles
[Du, Kai]'s Articles
[Zhou, Dongfeng]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.