Electric connector assembly based on vision and impedance control using cable connector-feeding system

被引：22

作者：

Song, Hee-Chan ^{[1
]}

Kim, Young-Loul ^{[1
]}

Lee, Dong-Hyeong ^{[1
]}

Song, Jae-Bok ^{[1
]}

机构：

[1] Korea Univ, Sch Mech Engn, Seoul 136713, South Korea

来源：

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2017年 / 31卷 / 12期

关键词：

Assembly strategy; Electric connector; Feeding system; Impedance control;

D O I：

10.1007/s12206-017-1144-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this study, a method for the electric connector-mating process in a wiring harness assembly system is proposed. In connector-assembly tasks, grasping the electric connector is a crucial step. Therefore, a cable connector-feeding system is developed to align cable connectors so that they can be grasped straight and held firmly by the robot. After the grasping problems are solved, a tilt strategy with impedance control is used to overcome the position errors caused by the vision system. The location of the connector header (Female part of connector) is detected using visual servoing with markers. Then, impedance control is adopted to achieve compliant contact motion and minimize position/orientation errors. The performance of the proposed electric connector-assembly strategy is evaluated by a series of experiments using a six-degree of freedom industrial robot equipped with a force/torque sensor and an eye-in-hand camera.

引用

页码：5997 / 6003

页数：7

共 14 条

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