Sensor-Based Control Using an Image Point and Distance Features for Rivet-in-Hole Insertion

This paper addresses the problem of stabilizing the machine at a pose specified by a reference image and four laser sensor readings. The system configuration combining monocular vision and laser pointers is applied for pose estimation of the end-effector as well as providing the control objective. Specific features are selected to reflect the pose of the end-effector in Cartesian space, and an adaptive controller is designed to implement the alignment between the end-effector and a stationary object for further assembly. The complete control scheme is assessed through simulations and experiments conducted on an automatic drilling and riveting system, the results demonstrate that the assembly task can be accomplished accurately and efficiently even with coarsely calibrated camera and laser pointers. Furthermore, decoupled results can be gained thanks to the selected features.

本文解决了将机器稳定在由参考图像和四个激光传感器读数所指定的位姿的问题。将单目视觉和激光指示器相结合的系统配置应用于末端执行器的位姿估计以及提供控制目标。选择特定的特征来反映末端执行器在笛卡尔空间中的位姿，并设计了一种自适应控制器来实现末端执行器与静止物体之间的对齐，以便进一步进行装配。通过在一个自动钻孔和铆接系统上进行的模拟和实验对整个控制方案进行了评估，结果表明，即使相机和激光指示器的校准较为粗略，装配任务也能够准确且高效地完成。此外，由于所选的特征，可以获得解耦的结果。