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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...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| 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 |