3914 視覚と力覚のセンサフュージョンによるロボットの制御 : 変形物体の操作

概要

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Ability of handling of a deformable object for a robot is expected not only in industrial manufacturing but also in human life support. A force/torque sensor is frequently used for robot control in playing a contact task with a rigid object. However, it is not enough for controlling a robot in handling of a deformable object. In this paper, a sensor fusion algorithm is proposed to control a robot to insert an aluminum peg set up on the robot hand into a deformable hole. To completing the task, a high-speed camera is used and a real time processing algorithm is developed to detect the deformation of the central line of the hole. The results of real time visual processing are integrated with information of a force/torque sensor for controlling a robot in playing the task using a proposed compliance control algorithm. The effectiveness of proposed method has been demonstrated through experiments.
社団法人日本機械学会の論文
2000-07-31