A Coarse-to-Fine Method for Estimating the Axis Pose Based on 3D Point Clouds in Robotic Cylindrical Shaft-in-Hole Assembly

In this work, we propose a novel coarse-to-fine method for object pose estimation coupled with admittance control to promote robotic shaft-in-hole assembly. Considering that traditional approaches to locate the hole by force sensing are time-consuming, we employ 3D vision to estimate the axis pose o...

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Detalles Bibliográficos
Autores principales: Li, Can, Chen, Ping, Xu, Xin, Wang, Xinyu, Yin, Aijun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8231622/
https://www.ncbi.nlm.nih.gov/pubmed/34204808
http://dx.doi.org/10.3390/s21124064

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8231622/
https://www.ncbi.nlm.nih.gov/pubmed/34204808
http://dx.doi.org/10.3390/s21124064

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