CASIA OpenIR
Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly
Xing, Dengpeng1,2; Liu, Fangfang1,2; Xu, De1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2020-09-01
Volume16Issue:9Pages:5814-5824
Abstract

This article proposes an efficient insertion strategy for inclined precision assembly. According to the characteristics of the inclined insertion, the radial force between objects is separated into three parts: the force due to insertion, the force retained from previous compensation, and the force caused by estimation error of object inclination. We employ Gaussian distribution to model the probability of the radial force in insertion and predict the future contact based on the current force and the compensation movement. Object inclination is online estimated by peeling off the forces not related with inclination and investigating the relationship between inclination difference and radial force error. The insertion of the lower object is originated from the parameter iteratively updated by past performance, the current assessment depicting the current state, the confidence on future execution, and the coordinated motion of the upper object is then planned based on the inclined insertion, the estimated inclination, and the force to be compensated. Experiments are carried out to demonstrate the validation of the proposed method.

KeywordEfficient inclined insertion force prediction inclination estimation precision assembly
DOI10.1109/TII.2019.2956972
WOS KeywordINSERTION ; VISION ; OBJECTS
Indexed BySCI
Language英语
Funding ProjectScience Challenge Project[TZ2018006-0204-02] ; National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61733004] ; National Nature Science Foundation of China[TII-19-3398]
Funding OrganizationScience Challenge Project ; National Nature Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000542966300017
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/40032
Collection中国科学院自动化研究所
Corresponding AuthorLiu, Fangfang
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100195, Peoples R China
2.Univ Chinese Acad Sci, Beijing 101407, 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
Xing, Dengpeng,Liu, Fangfang,Xu, De. Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(9):5814-5824.
APA Xing, Dengpeng,Liu, Fangfang,&Xu, De.(2020).Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(9),5814-5824.
MLA Xing, Dengpeng,et al."Efficient Coordinated Control Strategy to Handle Randomized Inclination in Precision Assembly".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.9(2020):5814-5824.
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