1A2-B13 Dexterous Manipulation of Dual Arm Robot for Assembly Work based on Vision : Nut and Bolt Manipulation

概要

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This paper presents the manipulation of nut and bolt for assembly work using dual arm manipulator. Data between eye-in-hand and eye-to-hand cameras are fused and handled together with force sensors and encoders to calculate the required robot dynamics of the seven link arms to manipulate object. The first experiment that has been used as the basic platform in preparing the dual arm robot for assembly task consists of autonomous picking and placing an M8 sized bolt and hexagonal nuts from several sizes to as small as radius 2 mm. Besides, based on the proposed vision processing, the robot hand could self adjust its wrist angle to avoid collision between the fingers and objects during the grasping task. Finally, vision is also applied to align both robot arms to prepare for autonomous screwing task of nut and bolt. Experiment results are laid out to show the robot performance for above operations.