A Study on a Dynamically Reconfigurable Robotic System (14th Report, Error Recovery in Assembly of Self-Organizing Manipulator Using Active Visual and Force Sensing)

Toshio Fukuda, Guo qing Xue, Fumihito Arai, Kazuhiro Kosuge, Hajime Asama, Hiomichi Omori, Isao Endo, Hayato Kaetsu

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

In this report, the method of active sensing is applied to assembly work of a self-organizing manipulator which we introduced in previous research. We placed a 6 axis force/torque sensor in the wrist of the manipulator and a CCD camera into the hand of another manipulator. With cooperation of hand and eye, haman beings can perform a variety of versatile tasks. The eyes guide the motion of the hand, while the hand moves to make the object more easily seen. We attempt to construct a system which works in the same way as a human being. In assembly work, many types of contact status of cells are analyzed. The scene simplification is based on the cooperative motion of the camera and manipulator. We integrate a vision system, a manipulator, and force/torque in to a hand- eye working system. The method of average visible rate is proposed to evaluate the viewpoint of the camera. A strategy for planning the assembly work is presented for the cellular type of self-organizing manipulator system. The efficiency of the proposed system is shown by experiments.

Original languageEnglish
Pages (from-to)2788-2795
Number of pages8
Journaltransactions of the japan society of mechanical engineers series c
Volume59
Issue number565
DOIs
Publication statusPublished - 1993

Keywords

  • Active Sensing
  • Assembly
  • Average Visible Rate
  • Cellular Robotics
  • Eye
  • Force Sensing
  • Hand
  • Planning
  • Viewpoint
  • Vision

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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