The Concept of "Attractive Region in Environment" and its Application in High-Precision Tasks With Low-Precision Systems
Qiao, Hong1; Wang, Min1; Su, Jianhua1; Jia, Shengxin2; Li, Rui1,3
2015-10-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号20期号:5页码:2311-2327
文章类型Article
摘要High-precision manipulation is very important for a variety of tasks in manufacturing. In general, high-precision manipulation is usually achieved by the guidance of high-precision sensors; however, sensorless methods, for some special cases, are more reliable and effective. There are many important works in this aspect [1]-[3]. The concept of "attractive region in environment" (ARIE), which was proposed in our previous works [4]-[6], provides a prospective approach for low-precision systems to achieve high-precision manipulation. It has been used in various industrial applications, such as robotic assembly [7], grasping [8], and localization [9]. ARIE is a region from any point of which the uncertainty of the system can be eliminated by a state-independent input. The utilization of attractive region can be easily understood by the case of a bean in a bowl. For a bean in a bowl, no matter where the initial position of the bean is, it will move to and finally stay at the bottom of the bowl under gravity. Thus, the uncertainty of the bean is eliminated by gravity without any sensor feedback. Inspired by the above case, the general concept of ARIE is proposed and is applied to industry. In this paper, we review the application of ARIE and give its formal definition. Furthermore, we establish conditions for the existence of ARIE in the generalized configuration space, which is complex and nonideal. The relationship between the high-dimensional attractive region and the low-dimensional one is also discussed, which is helpful to make feasible and reliable manipulation strategies in the low-dimensional configuration space. The main contribution of this paper is the generalization of the concept of ARIE, which provides a theoretical foundation for applications including the high-precision manipulation with low-precision system. The experimental simulations on different kinds of complex manipulations show the effectiveness of the proposed method for industrial applications.
关键词Assembly Attractive Region In Environment (Arie) Grasping Localization Sensorless Manipulation
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2014.2375638
关键词[WOS]ROBOTIC ASSEMBLY OPERATIONS ; SENSORLESS MANIPULATION ; POLYHEDRAL OBJECTS ; INSERTION STRATEGY ; PEG ; HOLE ; ALIGNMENT ; GRIPPER ; MODEL ; PARTS
收录类别SCI
语种英语
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:000360831900029
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8982
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Calif Los Angeles, Los Angeles, CA 90095 USA
3.Chinese Acad Sci, Grad Sch, Beijing 100190, Peoples R China
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Qiao, Hong,Wang, Min,Su, Jianhua,et al. The Concept of "Attractive Region in Environment" and its Application in High-Precision Tasks With Low-Precision Systems[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2015,20(5):2311-2327.
APA Qiao, Hong,Wang, Min,Su, Jianhua,Jia, Shengxin,&Li, Rui.(2015).The Concept of "Attractive Region in Environment" and its Application in High-Precision Tasks With Low-Precision Systems.IEEE-ASME TRANSACTIONS ON MECHATRONICS,20(5),2311-2327.
MLA Qiao, Hong,et al."The Concept of "Attractive Region in Environment" and its Application in High-Precision Tasks With Low-Precision Systems".IEEE-ASME TRANSACTIONS ON MECHATRONICS 20.5(2015):2311-2327.
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