Assembly of countersunk-hole parts based on 3D pose estimation and impedance control

CHEN Ping; LEI Xuejun; LI Can; HU Yiliang; CHEN Shuang

doi:10.37188/OPE.20223022.2889

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Assembly of countersunk-hole parts based on 3D pose estimation and impedance control

Micro\/Nano Technology and Fine Mechanics | 更新时间：2026-09-12

- Assembly of countersunk-hole parts based on 3D pose estimation and impedance control
- Optics and Precision Engineering Vol. 30, Issue 22, Pages: 2889-2900(2022)
- 作者机构：
  
  重庆大学机械与运载工程学院，重庆 400044
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20223022.2889
  CLC： TP394.1;TH691.9
- Received：20 July 2022，
  
  Revised：2022-08-28，
  
  Published：25 November 2022
- 稿件说明：
移动端阅览
陈平,雷学军,李灿等.3D位姿估计结合阻抗控制的沉孔装配[J].光学精密工程,2022,30(22):2889-2900.

CHEN Ping,LEI Xuejun,LI Can,et al.Assembly of countersunk-hole parts based on 3D pose estimation and impedance control[J].Optics and Precision Engineering,2022,30(22):2889-2900.
陈平,雷学军,李灿等.3D位姿估计结合阻抗控制的沉孔装配[J].光学精密工程,2022,30(22):2889-2900. DOI： 10.37188/OPE.20223022.2889.

CHEN Ping,LEI Xuejun,LI Can,et al.Assembly of countersunk-hole parts based on 3D pose estimation and impedance control[J].Optics and Precision Engineering,2022,30(22):2889-2900. DOI： 10.37188/OPE.20223022.2889.

摘要

面向长圆轴零件与沉孔零件的自动装配需求，针对装配中任意位置和姿态的零件柔顺装配的问题，研究了3D视觉和力觉结合的柔顺装配策略。在3D视觉定位方法中，提出了一种沉孔零件位姿估计的算法：首先使用超体素分割和约束平面分割（Constrained Planar Cuts， CPC）聚类完成点云数据的预处理，再利用基于权重的随机采样一致性（Weight-based Random Sample Consensus， WRANSAC）平面拟合完成平面定位，通过沉孔的轮廓提取与圆拟合估计装配位置。在力觉方法中，采用阻抗控制实现零件的柔顺装配。实验结果表明：本文提出的WRANSAC平面拟合算法的平均距离误差

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=118010757&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=118010726&type=

4.06400013

2.37066650

可以达到0.09 mm，角度误差

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=118010779&type=

https://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=118010765&type=

3.72533321

2.37066650

可以达到1.8°；3D空间中沉孔位姿的角度误差为1.0°，可实现配合间隙为0.5 mm的零件的装配。装配策略满足沉孔装配对精度及柔顺的要求。

Abstract

For robotic assembly long cylindrical shaft and countersunk-hole parts， this paper investigates the assembly strategies of combining 3D vision， and force perception for compliantly assembling parts in arbitrary positions and poses during assembly. An algorithm is proposed based 3D vision for pose estimation of countersunk-hole parts： firstly， use supervoxel segmentation

， Constrained Planar Cuts （CPC）and clustering to complete the preprocessing of point cloud， and then use Weight-based Random Sample Consensus （WRANSAC） plane fitting to acquire plane pose， finally， estimate the assembly position by profile extraction and circle fitting of countersunk-hole. In addition， we implement the compliant assembly of the parts using impedance control. The experimental results indicate that the average distance error

∆d

of WRANSAC plane fitting algorithm can be as high as 0.09 mm and the angular error

∆θ

can be as high as 1.8°. Moreover， the angular error of the countersunk-hole position in 3D space is 1.0°， which can realize the assembly of parts with a mating clearance of 0.5 mm. The assembly strategy meets the requirements of high precision and compliance of countersunk-hole assembly.

关键词

Keywords

references

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