Coordinated Insertion Control for Inclined Precision Assembly

doi:10.1109/TIE.2016.2518125

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	Coordinated Insertion Control for Inclined Precision Assembly
	Xing, Dengpeng; Liu, Fangfang; Qin, Fangbo; Xu, De
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2016-05-01
卷号	63 期号:5 页码:2990-2999
关键词	Coordinated Control Inclined Insertion Precision Assembly
DOI	10.1109/TIE.2016.2518125
文献子类	Article
英文摘要	This paper proposes a hybrid control strategy to coordinate inclined insertion for precision assembly, in order to increase the capability of dealing with disturbances. Precision assembly requires accurate manipulation, while due to perturbations, objects may be initiated with deviated posture and hold this deviation during insertion. To improve the assembly robustness to inclination, we develop a coordination structure: compensational motions for the mismatch between inclined posture and insertion direction by using kinematics and image Jacobian matrix methods; contact force acquisition to handle the indirect posture measurement between force sensor and inclined object, by taking advantage of the microimaging characteristics; and a hybrid coordinated insertion strategy to deal with the insufficient degree-of-freedom (DOF) allocation on each arm, applicable for assemblies in interference fit or clearance fit. Experiments are carried out to demonstrate the effectiveness of the proposed methods.
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
WOS记录号	WOS:000374164600032
资助机构	National Natural Science Foundation of China(61305115 ; 61227804 ; 61421004)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12222]
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, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Xing, Dengpeng,Liu, Fangfang,Qin, Fangbo,et al. Coordinated Insertion Control for Inclined Precision Assembly[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(5):2990-2999.
APA	Xing, Dengpeng,Liu, Fangfang,Qin, Fangbo,&Xu, De.(2016).Coordinated Insertion Control for Inclined Precision Assembly.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(5),2990-2999.
MLA	Xing, Dengpeng,et al."Coordinated Insertion Control for Inclined Precision Assembly".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.5(2016):2990-2999.