TY - GEN
T1 - B-PaDY
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
AU - Konada, Kazuya
AU - Kinugawa, Jun
AU - Arai, Shogo
AU - Kosuge, Kazuhiro
PY - 2017/8/23
Y1 - 2017/8/23
N2 - We have been developing a robot, which works in cooperation with workers in an automobile bumper assembly line, named B-PaDY. This robot is not directly involved in the assembly task but performs non-essential tasks for workers. To implement B-PaDY in an actual assembly line, robustness to hand-over bumper are required. However, when an Automatic Guided Vehicle (AGV) brings a bumper to B-PaDY, the AGV is not always in the same position, and B-PaDY cannot grasp the bumper correctly by teaching/playback. Moreover, after grasping the bumper, the robot needs to hand-over the bumper safely and correctly to the workers. In this paper, we propose a method for grasping a bumper robustly by using image processing from the camera input and to hand-over to the worker safely and stably by using a bumper vibration suppression trajectory. Finally, the experiments show the validity of proposed method.
AB - We have been developing a robot, which works in cooperation with workers in an automobile bumper assembly line, named B-PaDY. This robot is not directly involved in the assembly task but performs non-essential tasks for workers. To implement B-PaDY in an actual assembly line, robustness to hand-over bumper are required. However, when an Automatic Guided Vehicle (AGV) brings a bumper to B-PaDY, the AGV is not always in the same position, and B-PaDY cannot grasp the bumper correctly by teaching/playback. Moreover, after grasping the bumper, the robot needs to hand-over the bumper safely and correctly to the workers. In this paper, we propose a method for grasping a bumper robustly by using image processing from the camera input and to hand-over to the worker safely and stably by using a bumper vibration suppression trajectory. Finally, the experiments show the validity of proposed method.
KW - Co-worker Robot
KW - Image Processing
KW - Vibration Control
UR - http://www.scopus.com/inward/record.url?scp=85030330429&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85030330429&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2017.8015905
DO - 10.1109/ICMA.2017.8015905
M3 - Conference contribution
AN - SCOPUS:85030330429
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 722
EP - 727
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 6 August 2017 through 9 August 2017
ER -