TY - GEN
T1 - Clamp grasping and insertion task automation for automobile industry
AU - Koo, Kyongmo
AU - Jiang, Xin
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2010/12/1
Y1 - 2010/12/1
N2 - Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators.
AB - Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators.
UR - http://www.scopus.com/inward/record.url?scp=79952776368&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952776368&partnerID=8YFLogxK
U2 - 10.1109/SII.2010.5708341
DO - 10.1109/SII.2010.5708341
M3 - Conference contribution
AN - SCOPUS:79952776368
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 293
EP - 298
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -