High Precision Automatic Assembly Based on Microscopic Vision and Force Information

doi:10.1109/TASE.2014.2332543

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	High Precision Automatic Assembly Based on Microscopic Vision and Force Information
	Liu, Song; Xu, De; Zhang, Dapeng; Zhang, Zhengtao
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2016
卷号	13 期号:1 页码:382-393
关键词	Calibration Feature Extraction Force Control Image Jacobian Matrix Microscope Precision Assembly Visual Control
DOI	10.1109/TASE.2014.2332543
文献子类	Article
英文摘要	An automatic system is developed to realize high precision assembly of two components in the size of mm level with an interference fit in 3-dimensional (3-D) space with 6-degree-of-freedoms (DOF), which consists of a manipulator, an adjusting platform, a sensing system and a computer. The manipulator is employed to align component B to the component A in position. The adjusting platform aligns the component A to component B in orientations and inserts A into B. The sensing system includes three microscopes and a force sensor. The three microscopes are mounted approximately orthogonal to observe components from different directions in the aligning stage. The force sensor is introduced to detect the contact force in assembly process. In the aligning stage, a pose controlmethod based on image Jacobian matrix is proposed. In the insertion stage, a position control method based on the contact force is proposed. The calibration of image Jacobian matrix is also presented. Experimental results demonstrate the effectiveness of the proposed system and methods.
WOS关键词	VISUAL SERVO CONTROL ; CALIBRATION ; TASKS
WOS研究方向	Automation & Control Systems
语种	英语
WOS记录号	WOS:000374443300035
资助机构	National Natural Science Foundation of China(61227804 ; 61105036 ; 61305115)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12219]
专题	精密感知与控制研究中心_精密感知与控制
作者单位	Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Liu, Song,Xu, De,Zhang, Dapeng,et al. High Precision Automatic Assembly Based on Microscopic Vision and Force Information[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2016,13(1):382-393.
APA	Liu, Song,Xu, De,Zhang, Dapeng,&Zhang, Zhengtao.(2016).High Precision Automatic Assembly Based on Microscopic Vision and Force Information.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,13(1),382-393.
MLA	Liu, Song,et al."High Precision Automatic Assembly Based on Microscopic Vision and Force Information".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 13.1(2016):382-393.