2P1-W06 Fundamental study on robotic assembly of fixtures by a 4-finger 12 d.o.f. hand equipped with a camera to its palm

• HASHIMOTO Yasutoshi

  Dept. of Mechanical Engineering, Gifu University

• YATOU Daisuke

  Dept. of Mechanical Engineering, Gifu University

• YAMADA Takayoshi

  Dept. of Mechanical Engineering, Gifu University

• YAMAMOTO Hidehiko

  Dept. of Mechanical Engineering, Gifu University

• JOHANSSON Rolf

  Dept. of Automatic Control, Lund University

Bibliographic Information

Other Title

• 2P1-W06 掌にカメラを装着した4指12自由度ハンドによる治具組立の基礎研究

Abstract

Due to introducing robots to industrial production lines, it is expected that the productivity is increased, labor costs are reduced, and regular production is kept. At present, however, dexterity embedded into the robots is much inferior to skills of human beings. To improve the dexterity, we investigate robotic assembly of fixtures used in the production lines. To assemble the fixtures, we use a 4-finger 12 d.o.f. hand with a camera on the palm. In this paper, we investigate a grasp and insertion task of a bolt to a hole. And we investigate a grasp and insertion task of a slide unit to another slide unit. In these tasks, uncertainty of grasping by the hand occurs. To overcome the problem, we utilize the information of a 6-axis force sensor equipped in the robot wrist and the camera image.

Journal

• The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (0), _2P1-W06_1-_2P1-W06_4, 2015

  The Japan Society of Mechanical Engineers

Keywords

• multifingered hands
• assembly
• 6-axis force sensor

Details

• CRID: 1390001205942235904
• NII Article ID: 110010055895
• DOI: 10.1299/jsmermd.2015._2p1-w06_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2P1-W06_1/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed