Vision based compliant motion control for part assembly

Yuki Kobari, Takashi Nammoto, Jun Kinugawa, Kazuhiro Kosuge

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

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages293-298
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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