A calibration strategy for vision-guided robot assembly system of large cabin

Jiang, Tao; Cui, Haihua; Cheng, Xiaosheng

doi:10.1016/j.measurement.2020.107991

Cited by 37 publications

(17 citation statements)

References 30 publications

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“…The large cabin, a cylindrical component with outboard local features, is a significant part of spacecraft. [1] To ensure the service performance of the spacecraft, high requirements for dimensional and position accuracy of outboard local features of the large cabin are put forward. [2,3] For the machining tasks of local features on the cabin, the traditional manufacturing mode that feature parts are machined and refitted apart from the cabin is inefficient and difficult to ensure the stability of machining quality.…”

Section: Introductionmentioning

confidence: 99%

A machining partition method for local features with dimensional correlations of large cabin

Sun

Yan

et al. 2023

Preprint

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Integrated in-situ partition manufacturing mode of large cabins based on the mobile serial robots is adopted for machining tasks of outboard local features currently. However, the existing partition criteria of large-scale components only consider the geometric features and structure, ignoring the dimensional correlations of local features and the effective workspace of serial robots. This tends to cause that features with the same dimensional correlation are divided into different sub-regions, resulting in extra machining adjustment which reduces the machining efficiency. Aiming at the machining partition problem for local features of the large cabin, a machining partition method is proposed for local features with dimensional correlations of the large cabin based on clustering. Considering positions and dimensional correlations of local features, a multi-objective optimization model of partition based on clustering validity indexes is established to pre-solve partition schemes. To solve the reachable region of the large cabin, the effective workspace of serial robots is taken into account. With the reachable region as the constraint and the machining efficiency as the decision basis, the optimal partition scheme for local features of the large cabin is determined. The contrast validation is conducted on a reference cabin. The results indicate that the proposed method both satisfies the dimensional correlations of local features and the effective workspace of serial robots, which improves the machining efficiency. This research provides significant machining partition bases for robot machining in the integrated in-situ partition manufacturing mode of large cabins.

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Section: Introductionmentioning

confidence: 99%

A machining partition method for local features with dimensional correlations of large cabin

Sun

Yan

et al. 2023

Preprint

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“…However, the traditional working methods of industrial robots have been unable to meet the increasing production demand. Industrial robots equipped with vision sensors perceive the surrounding environment through image processing technology, which improves the “flexibility” of robot operations, and enables robots to complete more complex production tasks [ 3 , 4 , 5 ]. Hand–eye calibration is an indispensable part of the visual servo operation of the robot, which is an important bridge between the robot and the vision sensor.…”

Section: Introductionmentioning

confidence: 99%

Research of Online Hand–Eye Calibration Method Based on ChArUco Board

Lin¹,

Liang²,

Luo³

et al. 2022

Sensors

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To solve the problem of inflexibility of offline hand–eye calibration in “eye-in-hand” modes, an online hand–eye calibration method based on the ChArUco board is proposed in this paper. Firstly, a hand–eye calibration model based on the ChArUco board is established, by analyzing the mathematical model of hand–eye calibration, and the image features of the ChArUco board. According to the advantages of the ChArUco board, with both the checkerboard and the ArUco marker, an online hand–eye calibration algorithm based on the ChArUco board is designed. Then, the online hand–eye calibration algorithm, based on the ChArUco board, is used to realize the dynamic adjustment of the hand–eye position relationship. Finally, the hand–eye calibration experiment is carried out to verify the accuracy of the hand–eye calibration based on the ChArUco board. The robustness and accuracy of the proposed method are verified by online hand–eye calibration experiments. The experimental results show that the accuracy of the online hand–eye calibration method proposed in this paper is between 0.4 mm and 0.6 mm, which is almost the same as the offline hand–eye calibration accuracy. The method in this paper utilizes the advantages of the ChArUco board to realize online hand–eye calibration, which improves the flexibility and robustness of hand–eye calibration.

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“…Robotic assembly has attracted many researchers from the fields of automotive, aerospace, and electronics in past years [1][2][3][4][5]. Particularly, in shaft-in-hole assembly, challenges are introduced from the location of the target hole and the smooth insertion of shaft-in-hole.…”

Section: Introductionmentioning

confidence: 99%

A Coarse-to-Fine Method for Estimating the Axis Pose Based on 3D Point Clouds in Robotic Cylindrical Shaft-in-Hole Assembly

Can

Chen

et al. 2021

Sensors

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In this work, we propose a novel coarse-to-fine method for object pose estimation coupled with admittance control to promote robotic shaft-in-hole assembly. Considering that traditional approaches to locate the hole by force sensing are time-consuming, we employ 3D vision to estimate the axis pose of the hole. Thus, robots can locate the target hole in both position and orientation and enable the shaft to move into the hole along the axis orientation. In our method, first, the raw point cloud of a hole is processed to acquire the keypoints. Then, a coarse axis is extracted according to the geometric constraints between the surface normals and axis. Lastly, axis refinement is performed on the coarse axis to achieve higher precision. Practical experiments verified the effectiveness of the axis pose estimation. The assembly strategy composed of axis pose estimation and admittance control was effectively applied to the robotic shaft-in-hole assembly.

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A calibration strategy for vision-guided robot assembly system of large cabin

Cited by 37 publications

References 30 publications

A machining partition method for local features with dimensional correlations of large cabin

A machining partition method for local features with dimensional correlations of large cabin

Research of Online Hand–Eye Calibration Method Based on ChArUco Board

A Coarse-to-Fine Method for Estimating the Axis Pose Based on 3D Point Clouds in Robotic Cylindrical Shaft-in-Hole Assembly

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