Sensor-Based Artificial Skills with Force and Vision Information
Kosei Kitagaki*, Takashi Suehiro* and Motoyoshi Fujiwara**
*National Institute of Advanced Industrial Science and Technology (AIST), 2-1 Namikicho 1-chome Tsukuba Shi Ibaraki Prefecturure 305-8564, Japan
**Mie Prefectual Industrial Research Institute, 5-5-45 Takachaya, Tsu-shi, Mie Japan
To add flexibility against changes in assembly processes to a manufacturing system, we introduce artificial skills with advanced sensor-based information. Tasks are divided into a phase in local (contact) and global (noncontact) states and we developed pseudo contact point monitoring and feature-oriented coordination to achieve artificial skills for tasks in each phase. Pseudo contact point monitoring is a new technique that detects contact states by monitoring a pseudo contact point calculated from a set of observed force and moment. Effectiveness of artificial skills is shown by experimental results of stamping, bearing roller positioning, and a peg-in-hole task. Feature-oriented coordination system is a new control method that does not require prior calibration between the vision system and manipulator. We detail system possibilities and limitations with simulation.
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