Intelligent control of assembling robot using vision sensor

Jun Ishikawa, Kazuhiro Kosuge, Katsuhisa Furuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Intelligent control of an assembly robot using vision is presented. In assembling, the task is planned by the task planner, and the corresponding robot trajectory is planned as the reference trajectory. The robot should also adapt to environmental variation. To coordinate the planner and robot, a virtual internal model is used to modify the planned reference trajectory according to the environmental variation. The use of a force and vision sensor is proposed in the virtual internal model for error correction in assembly. A simple assembling task is experimentally achieved to verify the validity of the proposed method. The task considered is screwing a bolt with an open-ended wrench fixed to the wrist of the robot, where the bolt is not accurately placed at the fixed predetermined place. The experiment shows that the proposed control system works satisfactorily.

Original languageEnglish
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages1904-1909
Number of pages6
ISBN (Print)0818620617
Publication statusPublished - 1990 Dec 1
Externally publishedYes
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: 1990 May 131990 May 18

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period90/5/1390/5/18

ASJC Scopus subject areas

  • Engineering(all)

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