Hybrid Visual Servoing for Rivet-in-hole Insertion Based on Super-twisting Sliding Mode Control
Hybrid Visual Servoing for Rivet-in-hole Insertion Based on Super-twisting Sliding Mode Control
复制标题
基于超扭转滑模控制的铆钉入孔混合视觉伺服
DOI：
10.1007/s12555-019-0390-0
复制
发表时间：
2020-08
影响因子：
3.2
通讯作者：
Yinglin Ke
中科院分区：
文献类型：
--
作者：
Hua Liu;Weidong Zhu;Huiyue Dong;Yinglin Ke
针对补钉铆接过程中的铆钉孔内插入问题，提出了一种用于自动钻铆系统的新型混合式视觉伺服控制器，该控制器采用视觉和激光传感器反馈相结合的方法来确定铆钉相对于孔的相对位姿误差。为了补偿系统的不确定性，设计了一个超扭转滑模控制器(STSMC)来提供连续的控制输入，通过指数减小特征误差来使末端执行器移动到期望的位姿。所提出的控制方案不仅保证了控制系统的稳定性，而且在存在机械臂误差和铆接系统外部扰动的情况下，提供了一种鲁棒且快速的铆钉点定位。最后进行了孔内铆接实验，结果表明，只要孔处于视场范围内，且激光位移传感器处于初始工作范围内，该方法可以在有限的时间内(1~5s)实现精确定位，满足了铆接过程的高效率和灵活性的要求。
Aiming at solving the rivet-in-hole insertion problem of the complement riveting process, a novel hybrid visual servoing controller is proposed for an automatic drilling and riveting system, in which, combination of visual and laser sensor feedback is adopted to determine the relative pose errors of the rivet with respect to the hole. To compensate the system uncertainties, a super-twisting sliding mode controller (STSMC) is designed to provide continuous control inputs, and the end-effector can move to the desired pose by exponentially decreasing the feature errors. The proposed control scheme not only guarantees the stability of the control system but also provides a robust and quick rivet spot-positioning in the presence of manipulator errors and external disturbances of the riveting system. Finally, rivet-in-hole insertion experiments were conducted, the results show that accurate positioning can be achieved within a finite time (1~5s) which meets the demand of high-efficiency and flexibility in the riveting process since it can achieve global convergence from any initial camera pose as long as the hole is in the field-of-view (FOV) and the laser displacement sensors are in the working range at the beginning.
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影响因子：
7.7
作者：
W. Xie;Zheng Li;X. Tu;C. Perron
通讯作者：
W. Xie;Zheng Li;X. Tu;C. Perron
DOI：
--
发表时间：
2011-10
期刊：
--
影响因子：
--
作者：
Zhongxue Gan;Qing Tang
通讯作者：
Zhongxue Gan;Qing Tang
影响因子：
2.1
作者：
Junxia Jiang;C. Bian;Y. Ke
通讯作者：
Junxia Jiang;C. Bian;Y. Ke
影响因子：
7.7
作者：
Deng, LF;Janabi-Sharifi, F;Wilson, WJ
通讯作者：
Wilson, WJ
影响因子：
7.8
作者：
J. Pagès;C. Collewet;F. Chaumette;J. Salvi
通讯作者：
J. Pagès;C. Collewet;F. Chaumette;J. Salvi