The state of the art of search strategies in robotic assembly

Jiang, Jingang; Liang, Yao; Huang, Zhiyuan; Yu, Guang; Wang, Lihui; Bi, Zhuming

doi:10.1016/j.jii.2021.100259

Cited by 16 publications

(2 citation statements)

References 45 publications

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“…With the rapid increase of robots landing in various fields, robots inevitably interact with the external environment in contact-rich applications such as assembly automation and human–robot collaboration [1, 2]. However, the environment is usually unknown and uncertain in these scenarios, making it quite challenging to ensure safe and effective interactions during the tasks.…”

Section: Introductionmentioning

confidence: 99%

Hybrid impedance and admittance control for optimal robot–environment interaction

Ye,

Yang,

Jiang

et al. 2023

Robotica

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Compliant interaction between robots and the environment is crucial for completing contact-rich tasks. However, obtaining and implementing optimal interaction behavior in complex unknown environments remains a challenge. This article develops a hybrid impedance and admittance control (HIAC) scheme for robots subjected to the second-order unknown environment. To obtain the second-order target impedance model that represents the optimal interaction behavior without the accurate environment dynamics and acceleration feedback, an impedance adaptation method with virtual inertia is proposed. Since impedance control and admittance control have complementary structures and result in unsatisfactory performance in a wide range of environmental stiffness due to their fixed causality, a hybrid system framework suitable for the second-order environment is proposed to generate a series of intermediate controllers which interpolate between the responses of impedance and admittance controls by using a switching controller and adjusting its switching duty cycle. In addition, the optimal intermediate controller is selected using a mapping of the optimal duty cycle to provide the optimal implementation performance for the target impedance model. The proposed HIAC scheme can achieve the desired interaction and impedance implementation performance while ensuring system stability. Simulation and experimental studies are performed to verify the effectiveness of our scheme with a 2-DOF manipulator and a 7-DOF Franka EMIKA panda robot, respectively.

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Section: Introductionmentioning

confidence: 99%

Hybrid impedance and admittance control for optimal robot–environment interaction

Ye,

Yang,

Jiang

et al. 2023

Robotica

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“…In autonomous assembly tasks [2], [3], [4], [5] where multiple components must be repeatedly grasped, transported, and put together by a robot, precise manipulation is particularly critical since the task success and the quality of the assembled product directly depend on the robot performance. One relevant example is the production lines of cars, where metal joints must be inserted or glued to nonmetal elements (such as shells or panels) in precise configurations in order to provide reliable support for the additional components [6].…”

mentioning

confidence: 99%

Manipulation of Boltlike Fasteners Through Fingertip Tactile Perception in Robotic Assembly

Caccavale,

Finzi,

Laudante

et al. 2024

IEEE/ASME Trans. Mechatron.

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Robust manipulation of mechanical parts in different grasping configurations is a challenging problem in autonomous robotic assembly that can be overcome by adopting suitable mechatronic solutions. This article proposes a tactile-sensor-based approach that exploits inhand pose estimation and contact perception to compensate for unavoidable picking, placing, and insertion errors that may occur during task assembly execution under uncertain/perturbed conditions. The main objective of this work is to demonstrate how the use of tactile data, together with both machine learning and model-based methods, allows us to obtain an advanced system able to successfully complete a task that requires the manipulation of boltlike fasteners with different shapes and grasped in different poses. Experiments carried out using the proposed robotic system are reported for a specific assembly task in order to evaluate the effectiveness of the proposed solution. By means of suitable calibration procedures exploiting the same methods proposed here, the system can be easily adapted to different objects and shapes.

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Task attention-based multimodal fusion and curriculum residual learning for context generalization in robotic assembly

Wang,

Lin,

Liu

et al. 2024

Appl Intell

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The state of the art of search strategies in robotic assembly

Cited by 16 publications

References 45 publications

Hybrid impedance and admittance control for optimal robot–environment interaction

Hybrid impedance and admittance control for optimal robot–environment interaction

Manipulation of Boltlike Fasteners Through Fingertip Tactile Perception in Robotic Assembly

Task attention-based multimodal fusion and curriculum residual learning for context generalization in robotic assembly

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