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JRM Vol.13 No.3 pp. 254-266
doi: 10.20965/jrm.2001.p0254
(2001)

Paper:

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

Received:
January 1, 2001
Accepted:
January 20, 2001
Published:
June 20, 2001
Keywords:
manipulation skill, pseudo contact point monitoring, contact state recognition, feature-oriented coordination, calibration-free vision
Abstract

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.

Cite this article as:
Kosei Kitagaki, Takashi Suehiro, and Motoyoshi Fujiwara, “Sensor-Based Artificial Skills with Force and Vision Information,” J. Robot. Mechatron., Vol.13, No.3, pp. 254-266, 2001.
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