Peg-in-Hole assembly under uncertain pose estimation | |
Lin LL(林玲龙)2; Yang Y(杨洋)2; Song YT(宋云涛)2; B. Nemec3; A. Ude3; J.A. Rytz3; A.G. Buch1; N. Krüger1; T.R. Savarimuthu1 | |
2015-03-05 | |
会议日期 | 2014-6-29 |
关键词 | Peg-in-Hole Robot automation Learning-by-demonstration Assembly |
英文摘要 | A large part of industrial assembly tasks can be broken down to permutations of Peg-in-Hole actions. In this paper we compare the success rate of such actions using traditional robot control to an adaptive control strategy based on Dynamic Motor Primitives. Both methods use vision-based pose estimation to locate the peg and the hole in the workspace of an industrial robot, and a dexterous gripper to grasp the peg. The experiments show that the traditional robot control performs the PiH action with a low success rate, while the DMP based PiH can achieve a high success rate. |
会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/125919] |
专题 | 中国科学院合肥物质科学研究院 |
作者单位 | 1.Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark 2.中科学院合肥物质科学研究院 3.Humanoid and Cognitive Robotics Lab, Jozef Stefan Institute, Ljubljana, Slovenia |
推荐引用方式 GB/T 7714 | Lin LL,Yang Y,Song YT,et al. Peg-in-Hole assembly under uncertain pose estimation[C]. 见:. 2014-6-29. |
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