Assembly manipulation of small objects by dual-arm manipulator
Assembly manipulation of small objects by dual-arm manipulator
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DOI：
10.1108/01445151111150604
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发表时间：
2011-01-01
影响因子：
2.1
通讯作者：
Nonami, Kenzo
中科院分区：
文献类型：
--
作者：
Shauri, Ruhizan Liza Ahmad;Nonami, Kenzo
目的-本文的目的是提出一种装配机器人，表现出特定的人类一样的技能，以最小的结构成本和一些外部传感器。设计/方法/方法-作者采用了视觉处理，使用多个摄像头来确定目标和姿态，并提出了策略，以确定目标的姿态，并防止在混合物体的环境中的手指和障碍物之间的碰撞。此外，一个动态的轨迹规划集成了视觉和力传感器的机器人手为指定的task.Findings -作者获得了满意的实验结果，自主实时把握和拧。结果验证了机器人处理小物体的能力。研究限制/影响-更有效的机器人操作需要更高程度的目标定位数据，这将是未来的研究本research.Practical影响-实用性已经建立通过结果，表明机器人实现类似人类的熟练操作的小物体的能力。独创性/价值-通过两个七连杆臂机械手和三指手的配合，拧紧最小尺寸为M2（直径4.6 mm）的螺母和M8-M10螺栓（头部直径15-19.6 mm;长度50-80 mm），显示了机器人操纵小型物体的能力。
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.