Robotic grasping and assembly of screws based on visual servoing using point features

doi:10.1007/s00170-023-12562-z

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

	Robotic grasping and assembly of screws based on visual servoing using point features
	Hao, Tiantian 1,2; Xu, De 1,2
刊名	INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
	2023-11-02
页码	13
关键词	Feature extraction Image-based visual servoing Position alignment Robotic grasping Robotic assembly
ISSN号	0268-3768
DOI	10.1007/s00170-023-12562-z
通讯作者	Xu, De(de.xu@ia.ac.cn)
英文摘要	The robotic assembly of screws is the basic task for the automation assembly of complex equipment. However, a complete robotic assembly framework is difficult to be designed due to the integration of multiple technologies to achieve efficient and stable operations. In this paper, a robotic assembly workflow is proposed, which mainly consists of a feature extraction stage, a grasping stage, and an installation stage. In the feature extraction stage, a feature extraction algorithm consisting of a semantic segmentation network and an object classification module is designed. The semantic segmentation network segments the areas of multiple categories' objects, and the object classification module selects an appropriate target object. The grasping stage and installation stage involve the position alignment of the objects. A position alignment method is developed based on image-based visual servoing using the point features extracted from the segmented areas. The experiments are conducted on a real robot. The alignment errors in grasping stage are less 0.53 mm. The assemblies for a M6-sized screw in ten experiments are successful. The experiment results verify the effectiveness of the proposed method.
资助项目	National Natural Science Foundation of China[62273341]
WOS关键词	CALIBRATION
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	SPRINGER LONDON LTD
WOS记录号	WOS:001093273300003
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/54403]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Xu, De
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, CAS Engn Lab Intelligent Ind Vis, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Hao, Tiantian,Xu, De. Robotic grasping and assembly of screws based on visual servoing using point features[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,2023:13.
APA	Hao, Tiantian,&Xu, De.(2023).Robotic grasping and assembly of screws based on visual servoing using point features.INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY,13.
MLA	Hao, Tiantian,et al."Robotic grasping and assembly of screws based on visual servoing using point features".INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY (2023):13.