손과 팔의 협업에 의한 로봇 펙인홀 작업
Robotic Peg-in-Hole Assembly by Hand Arm Coordination
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참고문헌
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초록
Peg-in-hole assembly is the most representative task for a robot to perform under contactconditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existingstrategies are not sufficiently practical to be used for various assembly tasks in a human environmentbecause they require additional sensors or exclusive tools. In this paper, the peg-in-hole assemblyexperiment is performed with anthropomorphic hand arm robot without extra sensors or devices using“intuitive peg-in-hole strategy”. From this work, the probability of applying the peg-in-hole strategy to acommon assembly task is verified.
Abstract
Peg-in-hole assembly is the most representative task for a robot to perform under contactconditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existingstrategies are not sufficiently practical to be used for various assembly tasks in a human environmentbecause they require additional sensors or exclusive tools. In this paper, the peg-in-hole assemblyexperiment is performed with anthropomorphic hand arm robot without extra sensors or devices using“intuitive peg-in-hole strategy”. From this work, the probability of applying the peg-in-hole strategy to acommon assembly task is verified.
참고문헌 (22)
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