Vision based compliant motion control for part assembly

Yuki Kobari; Takashi Nammoto; Jun Kinugawa; Kazuhiro Kosuge

doi:10.1109/IROS.2013.6696367

Vision based compliant motion control for part assembly

Yuki Kobari
, Takashi Nammoto
, Jun Kinugawa
, Kazuhiro Kosuge

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

6 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. © 2013 IEEE.

Original language	English
Title of host publication	IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	293-298
DOIs	https://doi.org/10.1109/IROS.2013.6696367
Publication status	Published - 2013
Externally published	Yes
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 8 Nov 2013 https://ieeexplore.ieee.org/xpl/conhome/6679723/proceeding

Publication series

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

Conference

Conference	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Place	Japan
City	Tokyo
Period	3/11/13 → 8/11/13
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6679723/proceeding

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].

Access Output

10.1109/IROS.2013.6696367

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

Kobari, Y., Nammoto, T., Kinugawa, J., & Kosuge, K. (2013). Vision based compliant motion control for part assembly. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 293-298). Article 6696367 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696367

@inproceedings{aab541cb78074b698610dc6a4ceb3527,

title = "Vision based compliant motion control for part assembly",

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. {\textcopyright} 2013 IEEE.",

author = "Yuki Kobari and Takashi Nammoto and Jun Kinugawa and Kazuhiro Kosuge",

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].; 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference date: 03-11-2013 Through 08-11-2013",

year = "2013",

doi = "10.1109/IROS.2013.6696367",

language = "English",

isbn = "9781467363587",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "293--298",

booktitle = "IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems",

url = "https://ieeexplore.ieee.org/xpl/conhome/6679723/proceeding",

}

Kobari, Y, Nammoto, T, Kinugawa, J & Kosuge, K 2013, Vision based compliant motion control for part assembly. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6696367, IEEE International Conference on Intelligent Robots and Systems, pp. 293-298, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 3/11/13. https://doi.org/10.1109/IROS.2013.6696367

Vision based compliant motion control for part assembly. / Kobari, Yuki; Nammoto, Takashi; Kinugawa, Jun et al.
IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 293-298 6696367 (IEEE International Conference on Intelligent Robots and Systems).

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

TY - GEN

T1 - Vision based compliant motion control for part assembly

AU - Kobari, Yuki

AU - Nammoto, Takashi

AU - Kinugawa, Jun

AU - Kosuge, Kazuhiro

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 - 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. © 2013 IEEE.

AB - 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. © 2013 IEEE.

UR - http://www.scopus.com/inward/record.url?scp=84893786591&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84893786591&origin=recordpage

U2 - 10.1109/IROS.2013.6696367

DO - 10.1109/IROS.2013.6696367

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

SN - 9781467363587

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 293

EP - 298

BT - IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013

Y2 - 3 November 2013 through 8 November 2013

ER -

Vision based compliant motion control for part assembly

Abstract

Publication series

Conference

Bibliographical note

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this