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In this paper, we address an issue on non-existence of a CAD model of an object in a model-based virtual visual servoing system. The approach for reconstructing a 3D model with fewer faces from point cloud data is presented. Because of a number of faces on the model surface, this reconstructed model required less rendering time than a CAD model, consequently, high speed and high accuracy model-based...
This paper proposes a new method for automatic tuning of the impedance parameters, such that the manipulator control changes automatically from hard control to soft control, for assembly of components. Automatic tuning of impedance parameter for assembly, makes the change of manipulator control form hard control to soft control, smooth and makes system faster. Impedance parameter are tuned with respect...
This paper proposes a new method for the motion planning for the assembly of components, using configuration space information, mobility potential and the components' CAD models. The proposed method plans a path and automatically sets the velocity and the acceleration for the assembly task. Automatic selection of velocity and acceleration, for the intermediate via points of the assembly path, generates...
In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics...
In this paper, we propose a vision based compliant motion control method for part assembly work. Some industrial parts are deformed during assembly of parts. If work progress continues, deformation of the part increases, humans check the deformation and adjust force corresponding to the progress state. The proposed method enables a robot manipulator to adjust force applied for assembly work like a...
This paper presents high speed and high accuracy visual servoing system. The algorithm has three major improvements, which can be implemented in practical applications; Firstly high-accuracy pose estimation by using stereo cameras, secondly real time implementation issues with non-real-time image processing platform and thirdly a consideration for industrial position controller. To resolve the issues,...
This paper proposes model-based compliant motion control scheme for assembly tasks using vision and force information. Many problems, especially assembly tasks, could be solved by integrating visual servoing and impedance control with model-based compliant motion design, in which the coordinate frame of the impedance control is attached to the model of assembled object. To implement the model-based...
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