席文明, 卢俊, 颜景平. 基于图像定位的轴与轴孔装配中的误差分析[J]. 机器人, 2000, 22(4): 271-275..
XI Wen-ming, LU Jun, YAN Jing-ping. ERROR ANALYSIS OF SHAFT AND HOLE ASSEMBLY BASED ON IMAGE SITING. ROBOT, 2000, 22(4): 271-275..
Abstract：This article discusses the error of shaft and hole assembly under the camera con trol, gives a method to reduce the error, and a system is desgined by this method. The experiment proves the system may reduce the error of assembly.
[1] Bourrieres JP, Jeannier P, Lhote F. Intrinsic Compiance of Position-Controlled Robots. 5th Int, Conf AssemblyAutomation, May 1984’ Daris France [2] Raibert M H, Craig JJ. Hybrid Position/force Control of Manipulators. Trans ASME J Dyn Syst, Meas, Contr, 1981,103:126－133 [3] Hogan N. Impedance Control: An Approach to Manipulation. Part I-Ⅲ Trans, ASME J Dynamic System, Meas Contr,1985, 107:1－24 [4] Jiang Yu Zheng, Qian Chen, Saburo Tsuji. Active Camera Guided Manipulation.Proceeding of the 1991 IEEEInternational Conference on Robotics and Automation, Sacramento,California, 1991 [5] 席文明,丁卫,颜景平.基于图像定位的双机器人协调完成轴与轴孔装配.机器人,1999,7
