Human-Robot Interaction System for Micromanipulation Assistance
Human-Robot Interaction System for Micromanipulation Assistance
复制标题
用于显微操作辅助的人机交互系统
DOI：
10.1109/iecon.2018.8592819
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Y. Yamakawa
中科院分区：
文献类型：
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作者：
O. Kojima;Shouren Huang;Kenichi Murakami;M. Ishikawa;Y. Yamakawa
在本文中，我们提出了一个机器人辅助系统进行高精度的钉孔任务，通过使用高速视觉系统和高精度的执行器。在该系统中，视觉系统测量工件的位置和姿态，并且致动器根据该信息移动。通过使用高速视觉系统并以500 Hz操作该系统，可以使在一个工件中形成的孔跟随由人操作的钉的复杂运动，并且可以与钉精确地对准。此外，由于移动孔所需的扭矩是基于工件在由视觉系统捕获的图像的坐标平面中的位置和方向数据来计算的，所以该系统不受摄像机安装误差的影响。此外，通过使用两个摄像头并结合它们的信息，我们使跟踪范围更广。为了评估系统的性能，我们使用50µm的钉和70µm的孔执行了一个钉中孔任务，并显示系统以90%的成功率完成了任务。
In this paper, we propose a robotic assistance system for carrying out a highly accurate peg-in-hole task by using a high-speed vision system and high-accuracy actuators. In this system, the vision system measures the position and the posture of the workpieces, and the actuators are moved according to this information. By using the high-speed vision system and operating the system at 500 Hz, a hole formed in one workpiece can be made to follow the complicated motion of a peg operated by a human and can be accurately aligned with the peg. In addition, since the torque required to move the hole is calculated on the basis of the position and direction data of the workpieces in the coordinate plane of the image captured by the vision system, the system is not affected by camera installation errors. Moreover, by using two cameras and combining the information from them, we made the tracking field wider. In order to evaluate the performance of the system, we executed a peg-in-hole task using a 50µm peg and a 70µm hole, and showed that the system completed the task with a success rate of 90%.