Integrating force-based manipulation primitives with deep visual servoing for robotic assembly

• المؤلف الرئيسي: Lee, Yee Sien
• مؤلفون آخرون: Pham Quang Cuong
• التنسيق: Final Year Project
• اللغة: English
• منشور في: Nanyang Technological University 2022
• الموضوعات: Engineering::Mechanical engineering::Robots
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/157880
• المؤسسة: Nanyang Technological University

This paper explores the idea of combining Deep Learning-based Visual Servoing and dynamic sequences of force-based Manipulation Primitives for robotic assembly tasks. Most current peg-in-hole algorithms assume the initial peg pose is already aligned within a minute deviation range before a tight-cle...