CASIA OpenIR  > 数字内容技术与服务研究中心  > 听觉模型与认知计算
Simultaneous control in belief space for circular insertion in precision assembly
Xing DP(邢登鹏); Liu FF(刘芳芳); Xu D(徐德); Xu B(徐波)
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2021
Volume17Issue:xxPages:xxxx
Corresponding AuthorXing, Dengpeng(dengpeng.xing@ia.ac.cn)
Abstract

Simultaneously inserting multiple objects is a significant topic in precision assembly, which involves unobservable interactive states, to compose complicated shapes. To address its difficulties, this paper investigates circular assembly of multiple objects and proposes a strategy to plan the simultaneous insertion in belief space. We first present the interactive state transition and observation of the assembly task, in which the stochastic effects are modelled as Gaussian noise, and then estimate the belief state using extended Kalman filter. An optimization approach is discussed to plan the compensational motion to decrease the estimated interactive forces and the toward-center movement is thus determined with the optimized compensation and the belief state. Experiments are carried out to demonstrate the validation of the proposed method.

Keywordbelief space
DOI10.1109/TII.2020.2998165
WOS KeywordVISION
Indexed BySCI
Language英语
Funding ProjectNational Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61873266] ; National Nature Science Foundation of China[TII-20-0423]
Funding OrganizationNational 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:000597195500029
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/41459
Collection数字内容技术与服务研究中心_听觉模型与认知计算
Corresponding AuthorXing DP(邢登鹏)
Recommended Citation
GB/T 7714
Xing DP,Liu FF,Xu D,et al. Simultaneous control in belief space for circular insertion in precision assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2021,17(xx):xxxx.
APA Xing DP,Liu FF,Xu D,&Xu B.(2021).Simultaneous control in belief space for circular insertion in precision assembly.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,17(xx),xxxx.
MLA Xing DP,et al."Simultaneous control in belief space for circular insertion in precision assembly".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 17.xx(2021):xxxx.
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