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Robot Precision Assembly Combining with Passive and Active Compliant Motions | |
Su JH(苏建华) | |
发表期刊 | IEEE Trans. on Industrial Electronics |
2022-03 | |
卷号 | 69期号:8页码:8157-8167 |
摘要 | Precision assembly is one of the primary goals of robots in manufacturing. Assembly strategies combining active and passive compliant control are presented herein. We construct a high-dimensional configuration space of robot assembly and then divide the configuration space to its subspaces. We further map the active compliant motion and the passive compliant motion of manipulator into different subspaces. In one subspace, we construct the constraint function and design the passive compliant motion of manipulator in the constraint region, where the uncertainties of the system should be eliminated by the environment constraints. In another subspace, we design a force controller based on the low-resolution force sensory information to control the position of the robot. The proposed method avoids the design of precision mechanism systems and the usage of high-quality sensors. Several experiments pertaining to peg-in-hole insertions are conducted to demonstrate the efficiency of the proposed method. |
关键词 | Compliant motion assembly force controller constraint region. |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000764880700061 |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47409 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 |
通讯作者 | Su JH(苏建华) |
作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Su JH. Robot Precision Assembly Combining with Passive and Active Compliant Motions[J]. IEEE Trans. on Industrial Electronics,2022,69(8):8157-8167. |
APA | Su JH.(2022).Robot Precision Assembly Combining with Passive and Active Compliant Motions.IEEE Trans. on Industrial Electronics,69(8),8157-8167. |
MLA | Su JH."Robot Precision Assembly Combining with Passive and Active Compliant Motions".IEEE Trans. on Industrial Electronics 69.8(2022):8157-8167. |
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