TY - GEN
T1 - Intelligent control of assembling robot using vision sensor
AU - Ishikawa, Jun
AU - Kosuge, Kazuhiro
AU - Furuta, Katsuhisa
PY - 1990/12/1
Y1 - 1990/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0025632241
SN - 0818620617
T3 - Proc 1990 IEEE Int Conf Rob Autom
SP - 1904
EP - 1909
BT - Proc 1990 IEEE Int Conf Rob Autom
PB - Publ by IEEE
T2 - Proceedings of the 1990 IEEE International Conference on Robotics and Automation
Y2 - 13 May 1990 through 18 May 1990
ER -