Knowledge Management System of Hefei Institute of Physical Science,CAS
Peg-in-Hole assembly under uncertain pose estimation | |
Lin LL(林玲龙)1![]() | |
2015-03-05 | |
会议名称 | Proceeding of the 11th World Congress on Intelligent Control and Automation |
会议录名称 | Proceeding of the 11th World Congress on Intelligent Control and Automation |
会议日期 | 2014-6-29 |
摘要 | A large part of industrial assembly tasks can be broken down to permutations of Peg-in-Hole actions. In this paper we compare the success rate of such actions using traditional robot control to an adaptive control strategy based on Dynamic Motor Primitives. Both methods use vision-based pose estimation to locate the peg and the hole in the workspace of an industrial robot, and a dexterous gripper to grasp the peg. The experiments show that the traditional robot control performs the PiH action with a low success rate, while the DMP based PiH can achieve a high success rate. |
关键词 | Peg-in-Hole Robot automation Learning-by-demonstration Assembly |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.hfcas.ac.cn:8080/handle/334002/125919 |
专题 | 中国科学院合肥物质科学研究院 |
作者单位 | 1.中科学院合肥物质科学研究院 2.Humanoid and Cognitive Robotics Lab, Jozef Stefan Institute, Ljubljana, Slovenia 3.Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark |
推荐引用方式 GB/T 7714 | Lin LL,Yang Y,Song YT,et al. Peg-in-Hole assembly under uncertain pose estimation[C],2015. |
条目包含的文件 | 条目无相关文件。 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论