Virtual Guidance Tele-assembly System for Final Assembly of the Fusion Ignition Target
This paper presents a novel way for final assembly of the fusion ignition target to realize the complex docking assembly.Tele-assembly is adopted and a target tele-assembly system is developed in this paper.The system not only has local precision positioning unit and vacuum adsorption clamping unit but also has remote force and position monitoring units,augment reality unit and master manipulator.Structure of the target tele-assembly system,augment reality,master-slave method and Gaussian processing model for virtual force guide assist are discussed.Finally,experiments are carried out to verify the comparison of Gaussian learning and actual results,and the feasibility and effectiveness of the target tele-assembly system.
micro assembly peg-in-hole tele-assembly virtual-reality
RONG Weibin Zou Yu
State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,150001,China
国际会议
第十七届国际制造会议(The 17th International Manufacturing Conference in China)(IMCC 2017))
深圳
英文
1-7
2017-11-23（万方平台首次上网日期，不代表论文的发表时间）