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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information
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Robust Insertion Control for Precision Assembly With Passive Compliance Combining Vision and Force Information

机译：具有视觉和力信息相结合的被动适应能力的精密装配鲁棒插入控制

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In this article, a robust insertion control method for precision peg-in-hole assembly is developed by visually supervising the deformation of the passive compliance based on microscopic vision and force information. The advantage of the proposed method is the assembly task can be conducted with pose alignment errors since the passive compliance is visually supervised. This significantly decreases the precision requirement for parts alignment and thus contributes to precision assembly. Specifically, the relationship between the contact status among parts and the deformations of the passive compliance is first analyzed. Afterward, the vision-based method to estimate the three-dimensional deformation of the passive compliance is discussed. Finally, a hybrid insertion controller is proposed combining both force and position feedbacks. Experiments were designed to validate the effectiveness of the proposed method and the significance of introducing vision supervision into the insertion process.
机译：在本文中，通过基于微观视觉和力信息通过视觉监督被动柔量的变形，开发了一种用于精密孔内钉装配的鲁棒插入控制方法。所提出的方法的优点在于，由于在视觉上监督了被动的顺从性，因此可以以姿势对准误差来进行组装任务。这大大降低了零件对齐的精度要求，从而有助于精确组装。具体而言，首先分析零件之间的接触状态与被动柔量的变形之间的关系。之后，讨论了基于视觉的估计被动柔量三维变形的方法。最后，提出了一种混合插入控制器，将力和位置反馈结合在一起。设计实验以验证所提出方法的有效性以及在插入过程中引入视觉监控的重要性。

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