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

• 主要作者: Lee, Yee Sien
• 其他作者: Pham Quang Cuong
• 格式: Final Year Project
• 語言: English
• 出版: Nanyang Technological University 2022
• 主題: Engineering::Mechanical engineering::Robots
• 在線閱讀: https://hdl.handle.net/10356/157880

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...