File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/ROBOT.1990.126286
- Scopus: eid_2-s2.0-0025632241
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Intelligent control of assembling robot using vision sensor
Title | Intelligent control of assembling robot using vision sensor |
---|---|
Authors | |
Issue Date | 1990 |
Citation | IEEE International Conference on Robotics and Automation 1990, Cincinnati, OH, 13-18 May 1990. In Conference Proceedings, 1990, p. 1904-1909 How to Cite? |
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. |
Persistent Identifier | http://hdl.handle.net/10722/302578 |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Ishikawa, Jun | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Furuta, Katsuhisa | - |
dc.date.accessioned | 2021-09-07T08:42:11Z | - |
dc.date.available | 2021-09-07T08:42:11Z | - |
dc.date.issued | 1990 | - |
dc.identifier.citation | IEEE International Conference on Robotics and Automation 1990, Cincinnati, OH, 13-18 May 1990. In Conference Proceedings, 1990, p. 1904-1909 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302578 | - |
dc.description.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. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Automation | - |
dc.title | Intelligent control of assembling robot using vision sensor | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.1990.126286 | - |
dc.identifier.scopus | eid_2-s2.0-0025632241 | - |
dc.identifier.spage | 1904 | - |
dc.identifier.epage | 1909 | - |