TY - GEN
T1 - A force-driven adaptive assembly method in human-robot cooperative cabin alignment
AU - Yu, Hao
AU - Wen, Ke
AU - Du, Fuzhou
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - Cabin alignment usually adopts manual assembly method and has shown a trend towards automation with the development of digital measurement technology and 6D position adjustment technology. Aiming to improve the quality and efficiency of cabin alignment, this paper proposed a force-driven human-robot cooperative assembly approach and analyzed its adaptive motion control method. Firstly, the mechanism of human-robot cooperative cabin alignment was elaborated and the 6D force/torque calculating method was introduced. Secondly, an adaptive motion control method was presented, which could recognize dimensions of desired motion and adjust interpolation step size and speed adaptively. Finally, an aerospace component was used to conduct experiments to verify this approach. The experimental results show that the proposed assembly approach is feasible and the adaptive motion control method can be used to complete cabin alignment.
AB - Cabin alignment usually adopts manual assembly method and has shown a trend towards automation with the development of digital measurement technology and 6D position adjustment technology. Aiming to improve the quality and efficiency of cabin alignment, this paper proposed a force-driven human-robot cooperative assembly approach and analyzed its adaptive motion control method. Firstly, the mechanism of human-robot cooperative cabin alignment was elaborated and the 6D force/torque calculating method was introduced. Secondly, an adaptive motion control method was presented, which could recognize dimensions of desired motion and adjust interpolation step size and speed adaptively. Finally, an aerospace component was used to conduct experiments to verify this approach. The experimental results show that the proposed assembly approach is feasible and the adaptive motion control method can be used to complete cabin alignment.
KW - 6D force/torque measurement
KW - Adaptive motion control
KW - Force-driven assembly
KW - Intelligent 6D position adjustment
UR - https://www.scopus.com/pages/publications/85071114973
U2 - 10.1109/ITAIC.2019.8785896
DO - 10.1109/ITAIC.2019.8785896
M3 - 会议稿件
AN - SCOPUS:85071114973
T3 - Proceedings of 2019 IEEE 8th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2019
SP - 543
EP - 547
BT - Proceedings of 2019 IEEE 8th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2019
A2 - Xu, Bing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2019
Y2 - 24 May 2019 through 26 May 2019
ER -