Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information
Liu, Song1; Xing, Deng-Peng2,3; Li, You-Fu4; Zhang, Jianwei5; Xu, De2,3
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2019-10-01
卷号24期号:5页码:1974-1985
摘要

In this article, a robust insertion control method for precision peg-in-hole assembly is developed by visually supervising the deformation of the passive compliance based on microscopic vision and force information. The advantage of the proposed method is the assembly task can be conducted with pose alignment errors since the passive compliance is visually supervised. This significantly decreases the precision requirement for parts alignment and thus contributes to precision assembly. Specifically, the relationship between the contact status among parts and the deformations of the passive compliance is first analyzed. Afterward, the vision-based method to estimate the three-dimensional deformation of the passive compliance is discussed. Finally, a hybrid insertion controller is proposed combining both force and position feedbacks. Experiments were designed to validate the effectiveness of the proposed method and the significance of introducing vision supervision into the insertion process.

关键词Force Springs Strain Task analysis Cameras Manipulators Force sensors Hybrid force position control insertion control microscopic vision passive compliance precision assembly
DOI10.1109/TMECH.2019.2932772
关键词[WOS]PEG-IN-HOLE ; PARTS
收录类别SCI
语种英语
资助项目Research Grants Council of Hong Kong[CityU11255716] ; Research Grants Council of Hong Kong[CityU11205015] ; Research Grants Council of Hong Kong[CityU11205015] ; Research Grants Council of Hong Kong[CityU11255716]
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000493174900007
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
被引频次:32[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/173211/28861
专题精密感知与控制研究中心_精密感知与控制
通讯作者Li, You-Fu
作者单位1.Univ Southern Calif, Dept Elect Engn Eletrophys, Los Angeles, CA 90089 USA
2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
3.Univ Chinese Acad Sci, Beijing, Peoples R China
4.City Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China
5.Univ Hamburg, Dept Informat, D-22527 Hamburg, Germany
推荐引用方式
GB/T 7714
Liu, Song,Xing, Deng-Peng,Li, You-Fu,et al. Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(5):1974-1985.
APA Liu, Song,Xing, Deng-Peng,Li, You-Fu,Zhang, Jianwei,&Xu, De.(2019).Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(5),1974-1985.
MLA Liu, Song,et al."Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.5(2019):1974-1985.
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