動的再構成可能ロボットシステムに関する研究 : 第14報,視覚と力のアクティブセンシングを用いた自己組織化マニピュレータの組立作業誤差修正

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In this report, the method of active sensing is applied to assembly work of a self-organizing manipulator which we introduced in previous research. We placed a 6 axis force/torque sensor in the wrist of the manipulator and a CCD camera into the hand of another manipulator. With cooperation of hand and eye, haman beings can perform a variety of versatile tasks. The eyes guide the motion of the hand, while the hand moves to make the object more easily seen. We attempt to construct a system which works in the same way as a human being. In assembly work, many types of contact status of cells are analyzed. The scene simplification is based on the cooperative motion of the camera and manipulator. We integrate a vision system, a manipulator, and force/torque in to a hand-eye working system. The method of average visible rate is proposed to evaluate the viewpoint of thc camera. A strategy for planning the assembly work is presented for the cellular type of self-organizing manipulator system. The efficiency of the proposed system is shown by experiments.
1993-09-25