TY - GEN
T1 - Model-based compliant motion control scheme for assembly tasks using vision and force information
AU - Nammoto, Takashi
AU - Kosuge, Kazuhiro
AU - Hashimoto, Koichi
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 - 2013
Y1 - 2013
N2 - This paper proposes model-based compliant motion control scheme for assembly tasks using vision and force information. Many problems, especially assembly tasks, could be solved by integrating visual servoing and impedance control with model-based compliant motion design, in which the coordinate frame of the impedance control is attached to the model of assembled object. To implement the model-based compliant motion control scheme, real-time model-based object pose estimation is used for the visual servoing implemented by a position-based approach. The coordinate frame used for the impedance control, which is attached to the object model, is determined based on the estimated object pose. The proposed control is effective for assembly of two parts like connector insertion task, in which the compliant motion should be designed according to the geometric structure of the assembled part, such as a shape of a socket. Finally, experimental results illustrate the effectiveness of the proposed control. © 2013 IEEE.
AB - This paper proposes model-based compliant motion control scheme for assembly tasks using vision and force information. Many problems, especially assembly tasks, could be solved by integrating visual servoing and impedance control with model-based compliant motion design, in which the coordinate frame of the impedance control is attached to the model of assembled object. To implement the model-based compliant motion control scheme, real-time model-based object pose estimation is used for the visual servoing implemented by a position-based approach. The coordinate frame used for the impedance control, which is attached to the object model, is determined based on the estimated object pose. The proposed control is effective for assembly of two parts like connector insertion task, in which the compliant motion should be designed according to the geometric structure of the assembled part, such as a shape of a socket. Finally, experimental results illustrate the effectiveness of the proposed control. © 2013 IEEE.
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84891551522&origin=recordpage
U2 - 10.1109/CoASE.2013.6653912
DO - 10.1109/CoASE.2013.6653912
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781479915156
T3 - IEEE International Conference on Automation Science and Engineering
SP - 948
EP - 953
BT - 2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
T2 - 2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
Y2 - 17 August 2013 through 20 August 2013
ER -