Vision-Based Position/Impedance Control for Robotic Assembly Task

Lei, Yanpu; Xu, Jinyu; Zhou, Wei; Sun, Weigao; Wu, Yue; Luo, Jiawei; Zhang, Haitao

doi:10.23919/chicc.2019.8865406

Cited by 4 publications

(2 citation statements)

References 17 publications

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“…In the robotic assembly system, the target pose is usually measured with vision-based methods. 8,9 Generally, the point feature, line feature, and circle feature are employed in the pose estimation methods. For example, in Liu et al, 10 the end position of the dispensing needle was obtained through the point feature and then the precision dispensing operation was completed.…”

Section: Introductionmentioning

confidence: 99%

High-precision robotic assembly system using three-dimensional vision

Yan

Tao

2021

International Journal of Advanced Robotic Systems

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The design of a high-precision robot assembly system is a great challenge. In this article, a robotic assembly system is developed to assemble two components with six degree-of-freedoms in three-dimensional space. It consists of two manipulators, a structured light camera which is mounted on the end-effector aside component A to measure the pose of component B. Firstly, the features of irregular components are extracted based on U-NET network training with few labeled images. Secondly, an algorithm is proposed to calculate the pose of component B based on the image features and the corresponding three-dimensional coordinates on its ellipse surface. Thirdly, the six errors including two position errors and one orientation error in image space, and one position error and two orientation errors in Cartesian space are computed to control the motions of component A to align with component B. The hybrid visual servoing method is used in the control system. The experimental results verify the effectiveness of the designed system.

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Section: Introductionmentioning

confidence: 99%

High-precision robotic assembly system using three-dimensional vision

Yan

Tao

2021

International Journal of Advanced Robotic Systems

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“…Similarly [30] propose to use vision system to detect obstacles and to generate fake forces to perform an insertion. In [31] the authors used a vision system along with impedance control to implement an hybrid position/impedance control for the assembly of a small component. With the proposed approach it is necessary to teach the robot and the vision system by a demonstration assembly to calibrate and close the vision-robot-object chain, moreover impedance control is active in the direction of assembly to not exceed assembly forces, while in the other directions, position control is used, making impossible any error compensation due to the vision system.…”

Section: Introductionmentioning

confidence: 99%