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题名: Learning optimal measurement and control of assembly robot for large-scale heavy-weight parts
作者: Wan A(万安); Xu J(徐静); Zhang, Song; Zhang, Zonghua; Chen K(陈恳)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期: December 6-9, 2015
会议地点: Zhuhai, China
会议录: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1240-1246
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-9674-5
摘要: Due to their advantages of high speed, high accuracy, high flexibility, and low cost, assembly robots are widely used in electronics and automotive industries. However, it is still a significant challenge for large-scale, heavy-weight part assembly using industrial robots. First, the deformation and motion errors of industrial robots caused by big payload cannot meet the accuracy requirement of large structure assembly. To solve this problem, an online kinematics compensation method based on Gaussian Process Regression is developed to predict and compensate the deformation and uncertainties of a large structure assembly robot. Second, before the assembly process, the optimal assembly path has to be planned. To this end, we propose an assembly path planning method based on learning from demonstration. Finally, an event-based control method is deployed to achieve optimal assembly cycle time to improve assembly efficiency and performance. An experimental system is developed to validate the proposed algorithm for large structure assembly and the results demonstrate that the proposed method can improve the assembly efficiency by more than 40%.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380476200208
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19181
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wan A,Xu J,Zhang, Song,et al. Learning optimal measurement and control of assembly robot for large-scale heavy-weight parts[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.
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文件名: Learning optimal measurement and control of assembly robot for large-scale heavy-weight parts.pdf
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