TY - GEN
T1 - Hybrid vision-force control for automatic assembly of miniaturized gear system
AU - Hui, Xie
AU - Liguo, Chen
AU - Lining, Sun
AU - Weibin, Rong
PY - 2005
Y1 - 2005
N2 - This paper presents the automatic microassembly of miniaturized gear system by hybrid vision-force control with the vision system and the 3-DOF force sensor feedback data. The assembly process consists of three phases, including visual positioning, searching meshing state, and inserting. Visual feedback is used to achieve the coarse positioning and guide the grasping and transporting of microparts during the visual positioning phase. During the searching phase, a fuzzy PID controller is used to control the contact force on z axis and fuzzy logic strategy is developed to search the meshing state by the force feedback on x and y axes. The tolerance compensations movement is used to support the inserting task to avoid the case of blocking and prevent the micro parts from damaging. The assembly experiment of three planetary gears validates the hybrid-force control strategy.
AB - This paper presents the automatic microassembly of miniaturized gear system by hybrid vision-force control with the vision system and the 3-DOF force sensor feedback data. The assembly process consists of three phases, including visual positioning, searching meshing state, and inserting. Visual feedback is used to achieve the coarse positioning and guide the grasping and transporting of microparts during the visual positioning phase. During the searching phase, a fuzzy PID controller is used to control the contact force on z axis and fuzzy logic strategy is developed to search the meshing state by the force feedback on x and y axes. The tolerance compensations movement is used to support the inserting task to avoid the case of blocking and prevent the micro parts from damaging. The assembly experiment of three planetary gears validates the hybrid-force control strategy.
KW - Automatic microassembly
KW - Fuzzy PID controller
KW - Fuzzy logic strategy
KW - Hybrid vision-force control
KW - Miniaturized gear system
UR - https://www.scopus.com/pages/publications/33846155916
U2 - 10.1109/ROBOT.2005.1570306
DO - 10.1109/ROBOT.2005.1570306
M3 - 会议稿件
AN - SCOPUS:33846155916
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1368
EP - 1373
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -