基于视觉伺服与力觉反馈融合的末端位姿动态补偿方法
By integrating visual servoing and force feedback, the irregular hole contours of fiber optic slots are identified, an inverted conical spiral trajectory is generated, and force-displacement curves are used for determination. This solves the problems of positioning offset and dry friction interference of fiber optic slots in dense fiber optic distribution frames, and achieves accurate insertion and reliable locking of fiber optic connections.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INNER MONGOLIA ELECTRIC POWER (GRP) CO LTD ORDOS POWER SUPPLY BRANCH
- Filing Date
- 2026-05-25
- Publication Date
- 2026-07-17
AI Technical Summary
In actual maintenance scenarios involving dense fiber optic patch panels, the obstruction of cable groups causes distortion of the slot geometry, making it impossible for the vision system to locate accurately. Force feedback is easily affected by dry friction interference, leading to connector jamming or loose connections, which affects the stability of the communication link.
By fusing visual servoing and force feedback, irregular hole contours are identified, an inverted conical spiral trajectory is generated, and the authenticity is determined by combining the radius of curvature of the force-displacement curve. High-frequency micro-oscillation compensation is performed to solve the problems of hole center offset and dry friction interference.
It achieves precise positioning and reliable locking in complex force environments, avoids hard friction damage, and ensures the stability and security of fiber optic connections.
Smart Images
Figure CN122253221B_ABST