Fringe-Projection-Based Normal Direction Measurement and Adjustment for Robotic Drilling | |
Rao G(饶刚)1,2; Yang, Xiangdong1; Yu HB(于海斌)3; Chen K(陈恳); Xu J(徐静)1 | |
刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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2020 | |
卷号 | 67期号:11页码:9560-9570 |
关键词 | Robot sensing systems Three-dimensional displays Cameras Visualization Robustness Extraterrestrial measurements Robotic drilling fringe projection phase map normal adjustment two-stage control |
ISSN号 | 0278-0046 |
产权排序 | 3 |
英文摘要 | In a large-scale structure assembly, a highly accurate normal direction measurement for robotic drilling is required. However, the robustness and accuracy of the existing normal direction measurement method with a range sensor would dramatically decrease for a high-curvature surface, such as the surface edge, due to the low resolution of the range sensor. To this end, a high-resolution fringe projection sensor is proposed to improve the measurement robustness and accuracy. In this method, different from the control scheme design with a reconstructed three-dimensional point cloud in fringe projection profilometry, which involves a high computational complexity, a novel two-dimensional phase-map-based two-stage control scheme, including coarse and refined normal direction adjustments, is designed to improve the robustness and accuracy. The coarse normal direction adjustment uses a phase map to estimate the normal direction, which is used to synthesize a position-based control scheme, leading to high robustness; the refined normal direction adjustment uses a phase map to synthesize an image-based control scheme, resulting in high accuracy. The proposed method is validated by simulations and experiments, which indicate that the proposed method is effective. |
资助项目 | National Key R&D Program of China[2017YFC0822204] ; National Natural Science Foundation of China[U1613205] ; National Natural Science Foundation of China[51675291] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems[2018IRS13] |
WOS关键词 | SYSTEM ; ALGORITHM ; QUALITY ; MOTION ; MODEL ; SHAPE |
WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
语种 | 英语 |
WOS记录号 | WOS:000552206000049 |
资助机构 | National Key R&D Program of China [2017YFC0822204] ; National Natural Science Foundation of ChinaNational Natural Science Foundation of China [U1613205, 51675291] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems [2018IRS13] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27387] ![]() |
专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
通讯作者 | Xu J(徐静) |
作者单位 | 1.State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University , Beijing 100084, China 2.Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China 3.State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Rao G,Yang, Xiangdong,Yu HB,et al. Fringe-Projection-Based Normal Direction Measurement and Adjustment for Robotic Drilling[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(11):9560-9570. |
APA | Rao G,Yang, Xiangdong,Yu HB,Chen K,&Xu J.(2020).Fringe-Projection-Based Normal Direction Measurement and Adjustment for Robotic Drilling.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(11),9560-9570. |
MLA | Rao G,et al."Fringe-Projection-Based Normal Direction Measurement and Adjustment for Robotic Drilling".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.11(2020):9560-9570. |
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