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Assembly manipulation of small objects by dual‐arm manipulator

Assembly manipulation of small objects by dual‐arm manipulator Purpose – The purpose of this paper is to propose an assembly robot that exhibits specific human‐like skills, with minimal structural cost and a number of external sensors. Design/methodology/approach – The authors have employed vision processing using multiple cameras to determine targets and postures and propose strategies to determine the pose of a target and to prevent collisions between the fingers and obstacles in an environment with mixed objects. Furthermore, a dynamic trajectory planner integrates the vision and force sensors of the robot hand for the assigned task. Findings – The authors obtained satisfactory experimental results for autonomous real‐time grasping and screwing. The results verified the capability of the robot for handling small objects. Research limitations/implications – More effective robotic manipulation requires a higher degree of target orientation data, which will be a future study of this research. Practical implications – Practicality has been established through results, indicating the capability of the robot to implement human‐like skilled manipulation of small objects. This can potentially reduce the high labor cost associated with the small‐scale manufacture of custom‐made products. Originality/value – Screwing of nuts of minimum M2 size (diameter, 4.6 mm) and M8‐M10 bolts (head diameter, 15‐19.6 mm; length, 50‐80 mm) by cooperating two seven‐link arm manipulators and three‐fingered hands shows the robot's capability to manipulate small objects. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Assembly manipulation of small objects by dual‐arm manipulator

Assembly Automation , Volume 31 (3): 12 – Aug 2, 2011

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Publisher
Emerald Publishing
Copyright
Copyright © 2011 Emerald Group Publishing Limited. All rights reserved.
ISSN
0144-5154
DOI
10.1108/01445151111150604
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to propose an assembly robot that exhibits specific human‐like skills, with minimal structural cost and a number of external sensors. Design/methodology/approach – The authors have employed vision processing using multiple cameras to determine targets and postures and propose strategies to determine the pose of a target and to prevent collisions between the fingers and obstacles in an environment with mixed objects. Furthermore, a dynamic trajectory planner integrates the vision and force sensors of the robot hand for the assigned task. Findings – The authors obtained satisfactory experimental results for autonomous real‐time grasping and screwing. The results verified the capability of the robot for handling small objects. Research limitations/implications – More effective robotic manipulation requires a higher degree of target orientation data, which will be a future study of this research. Practical implications – Practicality has been established through results, indicating the capability of the robot to implement human‐like skilled manipulation of small objects. This can potentially reduce the high labor cost associated with the small‐scale manufacture of custom‐made products. Originality/value – Screwing of nuts of minimum M2 size (diameter, 4.6 mm) and M8‐M10 bolts (head diameter, 15‐19.6 mm; length, 50‐80 mm) by cooperating two seven‐link arm manipulators and three‐fingered hands shows the robot's capability to manipulate small objects.

Journal

Assembly AutomationEmerald Publishing

Published: Aug 2, 2011

Keywords: Dual‐arm robot; Image processing; Object recognition; Collision avoidance; Assembly

References