High-precision robotic assembly system using three-dimensional vision

doi:10.1177/17298814211027029

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	High-precision robotic assembly system using three-dimensional vision
	Yan, Shaohua 1,2; Tao, Xian 1,2; Xu, De 1,2
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2021-05-01
卷号	18 期号:3 页码:12
关键词	3D vision feature extraction pose estimation hybrid visual servoing robotic assembly system
ISSN号	1729-8814
DOI	10.1177/17298814211027029
通讯作者	Tao, Xian(taoxian2013@ia.ac.cn)
英文摘要	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.
资助项目	National Key Research and Development Program of China[2018AAA0103004] ; National Natural Science Foundation of China[61873266] ; Beijing Municipal Natural Science Foundation[4212044] ; Science and Technology Program of Beijing Municipal Science and Technology Commission[Z191100008019004]
WOS关键词	SERVO CONTROL
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000691289300001
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation ; Science and Technology Program of Beijing Municipal Science and Technology Commission
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45884]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Tao, Xian
作者单位	1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Yan, Shaohua,Tao, Xian,Xu, De. High-precision robotic assembly system using three-dimensional vision[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18(3):12.
APA	Yan, Shaohua,Tao, Xian,&Xu, De.(2021).High-precision robotic assembly system using three-dimensional vision.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18(3),12.
MLA	Yan, Shaohua,et al."High-precision robotic assembly system using three-dimensional vision".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18.3(2021):12.