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JRM Vol.23 No.6 pp. 939-950
doi: 10.20965/jrm.2011.p0939
(2011)

Paper:

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

Received:
April 27, 2011
Accepted:
September 11, 2011
Published:
December 20, 2011
Keywords:
robot, FA, assembly, vision, control
Abstract

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.

Cite this article as:
R. Haraguchi, Y. Domae, K. Shiratsuchi, <. Kitaaki, H. Okuda, A. Noda, <. Sumi, T. Matsuno, S. Kaneko, and <. 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.
Data files:
References
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Last updated on Jul. 04, 2020