Intelligent control of assembling robot using vision sensor

Jun Ishikawa; Kazuhiro Kosuge; Katsuhisa Furuta

doi:10.1109/robot.1990.126286

Intelligent control of assembling robot using vision sensor

Jun Ishikawa
, Kazuhiro Kosuge
, Katsuhisa Furuta

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

12 Citations (Scopus)

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.

Original language	English
Title of host publication	Proc 1990 IEEE Int Conf Rob Autom
Publisher	Publ by IEEE
Pages	1904-1909
ISBN (Print)	0818620617
DOIs	https://doi.org/10.1109/robot.1990.126286
Publication status	Published - 1990
Externally published	Yes
Event	Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: 13 May 1990 → 18 May 1990

Conference

Conference	Proceedings of the 1990 IEEE International Conference on Robotics and Automation
City	Cincinnati, OH, USA
Period	13/05/90 → 18/05/90

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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title = "Intelligent control of assembling robot using vision sensor",

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.",

author = "Jun Ishikawa and Kazuhiro Kosuge and Katsuhisa Furuta",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",

year = "1990",

doi = "10.1109/robot.1990.126286",

language = "English",

isbn = "0818620617",

pages = "1904--1909",

booktitle = "Proc 1990 IEEE Int Conf Rob Autom",

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AU - Ishikawa, Jun

AU - Kosuge, Kazuhiro

AU - Furuta, Katsuhisa

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1990

Y1 - 1990

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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DO - 10.1109/robot.1990.126286

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0818620617

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 -

Intelligent control of assembling robot using vision sensor

Abstract

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