|
| 论文编号: |
|
| 第一作者所在部门: |
|
| 中文论文题目: |
Study on dual peg-in-hole insertion using of constraints formed in the environment
|
| 英文论文题目: |
Study on dual peg-in-hole insertion using of constraints formed in the environment
|
| 论文题目英文: |
|
| 作者: |
Su, Jianhua
|
| 论文出处: |
|
| 刊物名称: |
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
|
| 年: |
2017
|
| 卷: |
44 |
| 期: |
6 |
| 页: |
730-740 |
| 联系作者: |
|
| 收录类别: |
|
| 影响因子: |
|
| 摘要: |
Purpose - The purpose of this paper is to develop a dual peg-in-hole insertion strategy. Dual peg-in-hole insertion is the most common task in manufacturing. Most of the previous work develop the insertion strategy in a two-or three-dimensional space, in which they suppose the initial yaw angle is zero and only concern the roll and pitch angles. However, in some case, the yaw angle could not be ignored due to the pose uncertainty of the peg on the gripper. Therefore, there is a need to design the insertion strategy in a higher-dimensional configuration space. |
| 英文摘要: |
|
| 外单位作者单位: |
|
| 备注: |
|
关闭窗口 |
|
