Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties.
Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties.
复制标题
DOI：
10.3390/s16081195
复制
发表时间：
2016-07-29
期刊：
影响因子：
--
通讯作者：
Ishikawa M
中科院分区：
文献类型：
--
作者：
Huang S;Bergström N;Yamakawa Y;Senoo T;Ishikawa M
传统的工业机器人在存在不确定性的情况下，很难实现快速准确的位置调节。不确定因素可以归因于工业机器人本身（例如，动力学不匹配，机械缺陷，如间隙等）或外部环境（例如，校准误差，工件的错位或扰动等）。本文提出了一种系统的方法，在最小或不需要人工教学的情况下，对一般工业机器人（简称主机器人）实现高性能的不确定位置调节。该方法基于一种从粗到精的策略，该策略包括为主机器人的末端执行器配置一个附加模块。附加模块由1000 Hz视觉传感器和高速执行器组成，以补偿累积的不确定性。主机器人只专注于快速和粗糙的运动，其轨迹由静态低成本相机的图像信息自动规划。利用商用并联机器人和附加的一自由度补偿模块，实现了快速准确的一维钉孔对准的应用场景。实验结果表明，当工件随机放置时，快速钉孔操作（调节精度约为0.1 mm）的成功率几乎为100%。
It is traditionally difficult to implement fast and accurate position regulation on an industrial robot in the presence of uncertainties. The uncertain factors can be attributed either to the industrial robot itself (e.g., a mismatch of dynamics, mechanical defects such as backlash, etc.) or to the external environment (e.g., calibration errors, misalignment or perturbations of a workpiece, etc.). This paper proposes a systematic approach to implement high-performance position regulation under uncertainties on a general industrial robot (referred to as the main robot) with minimal or no manual teaching. The method is based on a coarse-to-fine strategy that involves configuring an add-on module for the main robot’s end effector. The add-on module consists of a 1000 Hz vision sensor and a high-speed actuator to compensate for accumulated uncertainties. The main robot only focuses on fast and coarse motion, with its trajectories automatically planned by image information from a static low-cost camera. Fast and accurate peg-and-hole alignment in one dimension was implemented as an application scenario by using a commercial parallel-link robot and an add-on compensation module with one degree of freedom (DoF). Experimental results yielded an almost 100% success rate for fast peg-in-hole manipulation (with regulation accuracy at about 0.1 mm) when the workpiece was randomly placed.
登录
查看更多内容
影响因子：
7.8
作者：
Wang, Hesheng;Liu, Yun-Hui;Zhou, Dongxiang
通讯作者：
Zhou, Dongxiang
影响因子：
2
作者：
Huang, Shouren;Yamakawa, Yuji;Ishikawa, Masatoshi
通讯作者：
Ishikawa, Masatoshi
影响因子：
6.3
作者：
Bauchspiess, A;Alfaro, SCA;Dobrzanski, LA
通讯作者：
Dobrzanski, LA
影响因子：
10.4
作者：
Schneider, Ulrich;Olofsson, Bjorn;Johansson, Rolf
通讯作者：
Johansson, Rolf
DOI：
10.1109/tra.2003.814517
发表时间：
2003-08-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Cheah, CC;Hirano, M;Arimoto, S
通讯作者：
Arimoto, S