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Simultaneous Control in Belief Space for Circular Insertion in Precision Assembly | IEEE Journals & Magazine | IEEE Xplore

Simultaneous Control in Belief Space for Circular Insertion in Precision Assembly


Abstract:

Simultaneously inserting multiple objects is an essential topic in precision assembly to compose complicated shapes. This task involves the acquisition difficulty of unob...Show More

Abstract:

Simultaneously inserting multiple objects is an essential topic in precision assembly to compose complicated shapes. This task involves the acquisition difficulty of unobservable interaction states, which makes it hard to plan the insertion. To solve it, this article investigates the circular assembly of multiple objects and proposes a strategy to control the simultaneous insertion in belief space. We first present the insertion state transition and observation models, in which the stochastic parts are modeled as Gaussian noise, and then estimate the belief state using an extended Kalman filter. An optimization approach is discussed, for the compensational movement planning, to decrease the estimated radial interaction forces and the toward-center movement is thus determined, considering the optimized compensational movement and the belief state. Experiments are carried out to demonstrate the validation of the proposed method.
Published in: IEEE Transactions on Industrial Informatics ( Volume: 17, Issue: 3, March 2021)
Page(s): 1842 - 1851
Date of Publication: 28 May 2020

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