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首页> 外文期刊>Procedia CIRP >Position Identification in Force-Guided Robotic Peg-in-Hole Assembly Tasks
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Position Identification in Force-Guided Robotic Peg-in-Hole Assembly Tasks

机译:机器人引导的孔中装配任务中的位置识别

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Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated parts or the robot itself. This article suggests a strategy for identifying the accurate hole position in force-guided robotic peg-in-hole assembly tasks through employing only the captured wrench (the Cartesian forces and torques) signals of the manipulated. In the framework of using the Contact-State (CS) modeling for such robotic tasks, the identification of the hole position is realized through detecting the CS that corresponds for the phase of the peg-on-hole, that is the phase in which the peg is located precisely on the hole. Expectation Maximization-based Gaussian Mixtures Model (EM-GMM) CS modeling scheme is employed in detecting the CS corresponding for the peg-on-hole phase. Only the wrench signals are used in modeling and detecting the phases of the assembly process. The considered peg-in-hole assembly process starts from free space and as soon as the peg touches the environment with missing the hole, a spiral search path is followed that would survey the whole environment surface. When the CS of the peg-on-hole is detected, the hole position is identified. Experiments are conducted on a KUKA Lightweight Robot (LWR) doing typical peg-in-hole assembly tasks. Multiple hole positions are considered and excellent performance of the proposed identification strategy is shown.
机译:在许多力引导的机器人组装任务中,位置不确定性是不可避免的。这种不确定性可能导致严重的延迟,额外的能量消耗,甚至可能导致对配合零件或机器人本身的损害。本文提出了一种策略,该策略可通过仅使用所捕获的扳手信号(笛卡尔力和扭矩)来识别力引导的机器人在孔内组装任务中的准确孔位置。在将接触状态(CS)建模用于此类机器人任务的框架中,孔位置的识别是通过检测与钉孔阶段(即钉孔阶段)相对应的CS来实现的挂钉正好位于孔上。基于期望最大化的高斯混合模型(EM-GMM)CS建模方案用于检测与钉孔相对应的CS。仅扳手信号用于建模和检测组装过程的阶段。所考虑的“钉入孔”组装过程从自由空间开始,一旦钉在缺少孔的情况下接触到环境,就会遵循螺旋搜索路径,该路径将调查整个环境表面。当检测到固定孔的CS时,便会确定孔的位置。实验是在KUKA轻型机器人(LWR)上完成的典型的孔内钉组装任务。考虑了多个孔的位置,并显示了所提出识别策略的出色性能。

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