Human-machine Collaboration System for Fine Assembly Process
Human-machine Collaboration System for Fine Assembly Process
复制标题
精细装配工艺人机协作系统
DOI：
10.1109/sice.2006.315459
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
T. Ito
中科院分区：
文献类型：
--
作者：
Y. Harada;N. Nazir;Y. Shiote;T. Ito
半导体、微机电系统（MEMS）等精密零件的装配过程，由于精密零件的尺寸非常小且易碎，很难通过自动化系统或人工操作来进行。本文提出了基于人机协同的先进装配工艺和高精度定位操作的概念，从而实现高生产率。利用远程操作和增强现实（AR）技术构建了一个实验系统来实现和验证该概念的有效性。实验系统由一个触觉装置、一个增强现实监视器、一个机械手（手在末端执行器中用于处理精细部件）、一个力传感器、一些摄像头和一个工作夹具组成。通过实验验证了远程操纵和增强现实技术在精密零件装配过程中的有效性。在实验中，通过在触觉设备对机器人机械手的运动指令中利用比例因子调节操作者侧和装配区域侧的工作空间，以及装配区域对触觉设备产生的反作用力，可以有效地进行装配过程。此外，还证实了通过在增强现实监视器中加入一些运动指令和力的矢量表示，可以辅助人类进行装配过程。本文详细介绍了该概念和实现该概念的实验系统
The assembly process of some fine parts such as semiconductor and MEMS (micro electro mechanical systems), is very difficult to conduct based on the operation of an automated system or a human, since the size of the fine parts are very small and fragile. This paper proposes the concept of conducting advanced assembly process and highly precise positioning operation based on a collaboration of human and machine, such that a high productivity can be achieved. An experimental system to realize and to confirm the effectiveness of the concept is constructed using tele-manipulation and augmented reality (AR) technologies. The experimental system is composed of a haptic device, an augmented reality monitor, a robot manipulator with hand in the end-effector for handling the fine part, a force sensor, some cameras, and a work jig. The effectiveness of the assembly process of fine parts using tele-manipulation and augmented reality is confirmed by some experiments. In the experiments, by adjusting the workspace in the operator side and the assembly area side using scaling factor in the motion command from haptic device to robot manipulator, and also reaction force occurred in the assembly area to haptic device, the assembly process can be conducted effectively. In addition, it is also confirmed that by putting some vector representations of motion command and force in the augmented reality monitor, it can assist human to conduct the assembly process. This paper describes the concept and the experimental system to realize the concept in more detail
不使用环境模型的运动和力信息的替代预测显示方法
DOI：
--
发表时间：
2005
期刊：
Proc.of 2005 IEEE International Conference on Control Applications
影响因子：
--
作者：
T.Itoh;Y.Suzuki;T.Matsui
通讯作者：
T.Matsui