Intelligent control of assembling robot using vision sensor

Jun Ishikawa, Kazuhiro Kosuge, Katsuhisa Furuta

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProc 1990 IEEE Int Conf Rob Autom
出版社Publ by IEEE
ページ1904-1909
ページ数6
ISBN(印刷版)0818620617
出版ステータスPublished - 1990 12月 1
外部発表はい
イベントProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
継続期間: 1990 5月 131990 5月 18

出版物シリーズ

名前Proc 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

  • 工学(全般)

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