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Hole Detection Algorithm for Chamferless Square Peg-in-Hole based on Shape Recognition using F/T Sensor

International journal of precision engineering and manufacturing, v.15 no.3, 2014년, pp.425 - 432  

Kim, Young-Loul (School of Mechanical Engineering, Korea University) ,  Song, Hee-Chan (School of Mechanical Engineering, Korea University) ,  Song, Jae-Bok (School of Mechanical Engineering, Korea University)

Abstract ▼ AI-Helper 아이콘AI-Helper

Precision parts are difficult to assemble using only position control. To deal with this difficulty, force control approaches, which provide proper motion responses against contact forces, are investigated. Moreover, hole detection is a crucial step in eliminating the uncertainty in robotic assembly...

주제어

#Robotic assembly   #Assembly strategy   #Force control   #Vision system   #Shape recognition  

참고문헌 (16)

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