힘/모멘트/비전센서를 사용한 챔퍼가 없는 부품의 삽입작업에 관한 연구

Abstract

This paper discusses the peg-in-hole task of chamferless parts using force/moment/ vision sensors. The directional error occuring during the task are categorized into two cases according to the degree of initial e r ro r s,And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to con-tinue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demon-strated through experimentation using 5-axis robot eqeuipped with a developed controller , force/moment sensor and color digital camera on its hand.