Microassembly of micro peg and hole using an optimal visual proportional differential controller

Author:

Wang J1,Tao X2,Cho H2

Affiliation:

1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, People's Republic of China

2. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejon, Republic of Korea

Abstract

The proportional control based visual controller is the main method used in visual serving, but a small proportional gain results in a slow response, and a large proportional gain results in large overshoot or makes the system unstable. In order to improve the dynamic performance of visual servoing, a (PD) visual controller in a microassembly system is proposed. In the proposed controller the proportional part makes the system respond faster and the differential part can improve the dynamic performance. The proportional and differential gains are tuned using a genetic algorithm to obtain optimal controller parameters. In this paper, affine transformation of the feature line is used to track the object. A series of experiments are performed on the peg and hole assembly to investigate the feasibility and effectiveness of this method.

Publisher

SAGE Publications

Subject

Industrial and Manufacturing Engineering,Mechanical Engineering

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Robotic Assembly for Irregular Shaped Peg-in-Hole with Partial Constraints;Applied Sciences;2021-08-11

2. Design and development of a vision-based micro-assembly system;Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture;2015-01-08

3. Dynamic Time-Linkage Evolutionary Optimization: Definitions and Potential Solutions;Metaheuristics for Dynamic Optimization;2013

4. An Active Zooming Strategy for Variable Field of View and Depth of Field in Vision-Based Microassembly;IEEE Transactions on Automation Science and Engineering;2009-07

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