Vision and Force Sensing to Decrease Assembly Uncertainty

Abstract : This paper presents two ways of decreasing the assembly uncertainty of micro assembly tasks through further or optimized integration of sensors within a size adapted assembly system. To accomplish this, the orientation of the part to be placed with respect to the vision sensor is changed. This was possible through a new gripper which was able to overcome the restrictions placed on the system by the vision sensor. Another increase in precision was obtained through the integration of a force sensor into the wrist of the robot. This force sensor provides additional information about the placing process which allows the maximal force in the vertical axis to be limited. These improvements are then demonstrated on a task which requires the placement of linear guides which are 8.4 millimeters by 1 millimeter.
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Communication dans un congrès
Svetan Ratchev. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. Springer, IFIP Advances in Information and Communication Technology, AICT-315, pp.123-130, 2010, Precision Assembly Technologies and Systems. 〈10.1007/978-3-642-11598-1_14〉
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R. John Ellwood, Annika Raatz, Jürgen Hesselbach. Vision and Force Sensing to Decrease Assembly Uncertainty. Svetan Ratchev. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. Springer, IFIP Advances in Information and Communication Technology, AICT-315, pp.123-130, 2010, Precision Assembly Technologies and Systems. 〈10.1007/978-3-642-11598-1_14〉. 〈hal-01055693〉

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