Multi-sensor control for precise assembly of optical components

Ma, Li; Rong, Weibin; Sun, Lining

doi:10.1016/j.cja.2014.01.001

Cited by 5 publications

(2 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fang et al [14] improved the hybrid force position control method to ensure correct assembly deformation and improve assembly quality. Ma et al [15] used force-position hybrid control to control the contact force between a robot and the external environment and successfully completed the precision assembly of optical components. Hybrid force /position control can improve the control of the end force and satisfy the requirements of high-precision assembly tasks.…”

Section: Eliminating the Deviation Of A Workpiece Position By Robotmentioning

confidence: 99%

A Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center

Wang

Chen

et al. 2019

IEEE Access

View full text Add to dashboard Cite

Many kinds of peg-in-hole assembly strategies for an industrial robot have been reported in recent years. Most of these strategies are realized by utilizing visual and force sensors to assist robots. However, complex control algorithms that are based on visual and force sensors will reduce the assembly efficiency of a robot. This issue is thoughtless in traditional assembly strategies but is critical to further improve the efficiency of assembly automation. In this work, a new assembly strategy that is based on a displacement sensor and a variable compliant center is proposed to improve robot performance in assembly tasks. First, an elastic displacement device for this assembly strategy is designed, and its performance is analyzed. The displacement signal generated by the displacement sensor is used to detect the contact state of the peg and hole and to guide the robot to adjust the posture. Second, an assembly strategy, including the advantages of passive compliance and active compliance, and a simple assembly control system are designed to improve the assembly efficiency. Last, the effectiveness of the proposed assembly method is experimentally verified using a robot with 6 degrees of freedom and a chamferless peg and hole with a small clearance (0.1 mm). The experimental results show that the assembly strategy can successfully complete the precision peg-in-hole assembly and assist the robot in accurate assembly in industrial applications.

show abstract

Section: Eliminating the Deviation Of A Workpiece Position By Robotmentioning

confidence: 99%

A Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center

Wang

Chen

et al. 2019

IEEE Access

View full text Add to dashboard Cite

show abstract

“…With the increasing demand for automation, safety, efficiency and production cycle in modern industrial assembly, various remarkable methods in the context of assembly control have been developed to achieve desired performance (Qiao et al, 2014a;Wang et al, 2015;Li et al, 2015aLi et al, , 2015bMa et al, 2014;Qiao et al, 2015Qiao et al, , 2014bMa et al, 2015;Chandra et al, 2003) and the references therein. In particular, cyber technologies and real-time communication networks have been used in the manufacturing assembly processes to meet the above requirements.…”

Section: Introductionmentioning

confidence: 99%

Guaranteed cost design for model-based cyber-physical assembly: a convex optimization approach

Liu

2016

View full text Add to dashboard Cite

Article information:To cite this document: Bin Liu , (2016),"Guaranteed cost design for model-based cyber-physical assembly: a convex optimization approach", Assembly Automation, Vol. 36 Iss 3 pp. -Permanent link to this document: http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to propose a guaranteed cost control design procedure for model-based cyber-physical assembly systems. In order to reflect the cyber-physical environment, the network-induced delays and disturbances are introduced in the mathematical model.Design/methodology/approach -Based on the linear matrix inequality approach, the guaranteed cost controller is designed such that the guaranteed cost can be satisfied and the corresponding convex optimization algorithm is provided. Moreover, H-infinity theory is employed to deal with the disturbance with the given H-infinity attenuation level.Findings -By constructing appropriate Lyapunov-Krasovskii functionals, delaydependent sufficient conditions are established in terms of linear matrix inequalities and the controller design procedure is given.Originality/value -A simplified cyber-physical assembly model is given, based on which the designed controller can allow us to control the closed-loop cyber-physical assembly systems with the guaranteed cost.

show abstract