ABSTRACT
A tenuous shaft assembly technique based on a three-dimensional pose is proposed in this paper. Also servo feedback pose error is defined in a Cartesian space. Furthermore, a simulated model is established in MATLAB/Simulink. Simultaneously, the line tracking experiment is simulated. The result shows that the presented control method can track the desired trajectory very well. Finally, the tenuous shaft assembly experiment is carried out with a YASKAWA six-DOF Industrial manipulator, which verifies the feasibility of the proposed method. The overall process accomplishes assembly rapidly and automatically, which provides effective methods for a great variety of applications where industrial manipulators are guided by vision.
