TY - GEN
T1 - Vision based compliant motion control for part assembly
AU - Kobari, Yuki
AU - Nammoto, Takashi
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
PY - 2013/12/1
Y1 - 2013/12/1
N2 - In this paper, we propose a vision based compliant motion control method for part assembly work. Some industrial parts are deformed during assembly of parts. If work progress continues, deformation of the part increases, humans check the deformation and adjust force corresponding to the progress state. The proposed method enables a robot manipulator to adjust force applied for assembly work like a human. In our proposed method, force applied for the work is generated by visual information from a camera reading the deformation of the parts. Processing the visual information quantifies the deformation and the data show the work progress. NCC is generally used for template matching, but in this paper we use it for quantifying deformation. Connectors are assembled by a robot manipulator using proposed method and impedance control in experiments. Experimental results are presented to verify the effectiveness of the proposed method.
AB - In this paper, we propose a vision based compliant motion control method for part assembly work. Some industrial parts are deformed during assembly of parts. If work progress continues, deformation of the part increases, humans check the deformation and adjust force corresponding to the progress state. The proposed method enables a robot manipulator to adjust force applied for assembly work like a human. In our proposed method, force applied for the work is generated by visual information from a camera reading the deformation of the parts. Processing the visual information quantifies the deformation and the data show the work progress. NCC is generally used for template matching, but in this paper we use it for quantifying deformation. Connectors are assembled by a robot manipulator using proposed method and impedance control in experiments. Experimental results are presented to verify the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84893786591&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893786591&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696367
DO - 10.1109/IROS.2013.6696367
M3 - Conference contribution
AN - SCOPUS:84893786591
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 293
EP - 298
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -