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Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism | |
Xing DP(邢登鹏); Liu, Fangfang; Xu, De | |
发表期刊 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS |
ISSN | 1551-3203 |
2021 | |
卷号 | 17期号:xx页码:xxxx |
通讯作者 | Liu, Fangfang(fang-fang.liu@ia.ac.cn) |
摘要 | This paper uses a multiple compliant degree-of-freedoms (DOFs) mechanism (i.e., a spring) to facilitate compliant insertion in precision assembly and proposes an efficient insertion strategy accordingly. The addition of a spring increases the insertion compliance while resulting in that the object is not directly controllable. The proposed strategy handles both vertical insertion and inclined insertion with an unknown posture according to force feedback. We investigate horizontal compliance when the spring is compressed or stretched and introduce the withdrawal process for exceptional situations by taking advantage of insertion compliance. The inclined insertion is a process of inserting while estimating the hole posture and a radial compensation strategy is presented not affecting the axial length of the spring. Efficient insertion planning is discussed in the presence of uncertainty caused by the spring for both insertion types. Experiments are carried out to demonstrate the validation of the proposed method. |
关键词 | manipulation |
DOI | 10.1109/TII.2020.2986805 |
关键词[WOS] | VISION ; GRIPPER ; OBJECTS |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61733004] ; National Nature Science Foundation of China[TII-20-0407] |
项目资助者 | National Nature Science Foundation of China |
WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
WOS类目 | Automation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial |
WOS记录号 | WOS:000600967800034 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/41460 |
专题 | 中科院工业视觉智能装备工程实验室_精密感知与控制 |
通讯作者 | Liu, Fangfang |
推荐引用方式 GB/T 7714 | Xing DP,Liu, Fangfang,Xu, De. Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2021,17(xx):xxxx. |
APA | Xing DP,Liu, Fangfang,&Xu, De.(2021).Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,17(xx),xxxx. |
MLA | Xing DP,et al."Efficient insertion strategy for precision assembly with uncertainties using a passive mechanism".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 17.xx(2021):xxxx. |
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