Abstract
In this paper, a method for SMP-KK RF coaxial connector assembly using a vision system and impedance control is presented. An end-effector is designed to grasp the connector easily, avoiding complicated picking processes. To capture the header (Female part of the connector) directly without the searching process, a robot error compensation method based on spatial similarity is adopted to improve robot positional accuracy. Then, a strategy with improved impedance control is proposed to overcome the remaining position/orientation errors caused by the vision system. The improved impedance control using reinforcement learning is adopted to suppress contact force overshoot and minimize position/orientation errors. The performance of the proposed method is evaluated by a series of experiments using a six-degree freedom robot equipped with the designed end-effector. The experimental results show that the average absolute error of robot positioning is reduced by 70.9% from 0.6898 to 0.2006 mm after precision compensation, and the proposed strategy can reduce the pose error to within 0.5°.
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Acknowledgements
This work was supported by the National Key R&D Program, China (No.2020YFB1710300), and the National Defense Basic Scientific Research Program of the Bureau of Science, Technology and Industry for National Defense, China (No. JCKY2019210B004).
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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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Liu, Q., Hu, H., Wang, S., Chen, Z., Wang, C., Tian, W. (2023). SMP-KK RF Coaxial Connector Automated Assembly Method. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_132
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DOI: https://doi.org/10.1007/978-981-19-9398-5_132
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