Geometric model-based joint angle selection criterion for force parameter identification Decoupling control method of position and posture in shaft-hole assembly

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	Geometric model-based joint angle selection criterion for force parameter identification Decoupling control method of position and posture in shaft-hole assembly
	Wang JH(王竣禾)2,3,4; Jiang Y(姜勇)3,4; Lin S(林松)2,3,4; Kong FX(孔繁旭)1
	2021
会议日期	July 27-31, 2021
会议地点	Jiaxing, China
关键词	compliance control force feedback damping control Parameter identification Posture adjustment Sample selection criterion shaft - hole assembly
页码	7-12
英文摘要	Robotic vision servo technology has been developed to control a robotic arm to a specified position with the guidance of a vision sensor. However, for tasks that require high precision control, guidance by vision alone is not sufficient. We need to use compliance control method based on contact force information to accomplish fine-grained operations. In the paper, firstly, a geometric model-based joint angle selection criterion for force parameter identification is proposed, which can improve the stability and accuracy of force sensor parameter identification. Secondly, due to the unstable and too small values of the collected torque information, and in order to omit the tedious force analysis, as well as the costly trial-and-error process, we divide the shaft-hole assembly problem into two parts. One is to combine the point cloud normal vector estimation and posture transformation to achieve the control of the end point position of the axis body constant, while adjusting the posture of the shaft body by speed control; and the other is to use the force feedback damping control to complete the assembly tasks when the shaft body direction is consistent with the hole axis direction. After these two parts of operation, the decoupling of posture and position can be realized, shaft hole assembly at any posture of the workpiece (hole) can be completed. The effectiveness and feasibility of the algorithm is verified by conducting experiments on the UR5 robot. © 2021 IEEE.
源文献作者	IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2642-6633
ISBN号	978-1-6654-2527-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29942]
专题	工艺装备与智能机器人研究室
通讯作者	Jiang Y(姜勇)
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Shenyang, 110169, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Wang JH,Jiang Y,Lin S,et al. Geometric model-based joint angle selection criterion for force parameter identification Decoupling control method of position and posture in shaft-hole assembly[C]. 见:. Jiaxing, China. July 27-31, 2021.