Development of Production Robot System that can Assemble Products with Cable and Connector

被引：16

作者：

Haraguchi, Rintaro ^{[1
]}

Domae, Yukiyasu ^{[1
]}

Shiratsuchi, Koji ^{[1
]}

Kitaaki, Yasuo ^{[1
]}

Okuda, Haruhisa ^{[1
]}

Noda, Akio ^{[1
]}

Sumi, Kazuhiko ^{[2
]}

Matsuno, Takayuki ^{[3
]}

Kaneko, Shun'ichi ^{[4
]}

Fukuda, Toshio ^{[5
,6
]}

机构：

[1] Mitsubishi Electr Corp, Adv Technol R&D Ctr, 8-1-1 Tsukaguchi, Amagasaki, Hyogo 6618661, Japan

[2] Aoyama Gakuin Univ, Dept Integrated Informat Technol, Chuo Ku, Sagamihara, Kanagawa 2525258, Japan

[3] Toyama Prefectural Univ, Intelligent Syst Design Engn, Imizu, Toyama, Japan

[4] Hokkaido Univ, Grad Sch Informat Sci & Technol, Sapporo, Hokkaido 0600814, Japan

[5] Nagoya Univ, Ctr Micronano Mechatron, Chikusa Ku, Nagoya, Aichi 4648603, Japan

[6] Nagoya Univ, Dept Micronano Syst Engn, Chikusa Ku, Nagoya, Aichi 4648603, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2011年 / 23卷 / 06期

关键词：

robot; FA; assembly; vision; control;

D O I：

10.20965/jrm.2011.p0939

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.

引用

页码：939 / 950

页数：12

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