Development of Production Robot System that can Assemble Products with Cable and Connector
Rintaro Haraguchi*1, Yukiyasu Domae*1, Koji Shiratsuchi*1,
Yasuo Kitaaki*1, Haruhisa Okuda*1, Akio Noda*1,
Kazuhiko Sumi*2, Takayuki Matsuno*3, Shun’ichi Kaneko*4,
and Toshio Fukuda*5
*1Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-Honnmachi Amagasaki, Hyogo 661-8661, Japan
*2Aoyama Gakuin University, Japan
*3Toyama Prefectural University, Japan
*4Hokkaido University, Japan
*5Nagoya University, Japan
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.
Yasuo Kitaaki, Haruhisa Okuda, Akio Noda,
Kazuhiko Sumi, Takayuki Matsuno, Shun’ichi Kaneko, and
and Toshio Fukuda, “Development of Production Robot System that can Assemble Products with Cable and Connector,” J. Robot. Mechatron., Vol.23, No.6, pp. 939-950, 2011.
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