Abstract
In this paper, we propose an assembly strategy for the insertion of an USB cable, which is one of the well-known connector cables, into a corresponding USB port. This strategy is required to automate the inspection process of USB ports. In the proposed method, we use the information from the camera and a force/torque sensor to minimize position uncertainties. The features of a USB port are detected by the vision system and the end-effector of the robot quickly moves to the front of the USB port through visual servoing. After that, an impedance controller is adopted to achieve a compliant contact motion and to overcome any existing translational/angular errors. The performance of the proposed USB assembly strategy was evaluated by a series of experiments using a 6 DOF industrial robot equipped with a force/torque sensor.
| Original language | English |
|---|---|
| Title of host publication | 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 114-117 |
| Number of pages | 4 |
| ISBN (Print) | 9781467379700 |
| DOIs | |
| Publication status | Published - 2015 Dec 16 |
| Event | 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of Duration: 2015 Oct 28 → 2015 Oct 30 |
Other
| Other | 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 |
|---|---|
| Country | Korea, Republic of |
| City | Goyang City |
| Period | 15/10/28 → 15/10/30 |
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Keywords
- Assembly strategy
- impedance control
- USB connector
- visual servoing
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
Cite this
USB assembly strategy based on visual servoing and impedance control. / Song, Hee Chan; Kim, Min Cheol; Song, Jae-Bok.
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 114-117 7358873.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - USB assembly strategy based on visual servoing and impedance control
AU - Song, Hee Chan
AU - Kim, Min Cheol
AU - Song, Jae-Bok
PY - 2015/12/16
Y1 - 2015/12/16
N2 - In this paper, we propose an assembly strategy for the insertion of an USB cable, which is one of the well-known connector cables, into a corresponding USB port. This strategy is required to automate the inspection process of USB ports. In the proposed method, we use the information from the camera and a force/torque sensor to minimize position uncertainties. The features of a USB port are detected by the vision system and the end-effector of the robot quickly moves to the front of the USB port through visual servoing. After that, an impedance controller is adopted to achieve a compliant contact motion and to overcome any existing translational/angular errors. The performance of the proposed USB assembly strategy was evaluated by a series of experiments using a 6 DOF industrial robot equipped with a force/torque sensor.
AB - In this paper, we propose an assembly strategy for the insertion of an USB cable, which is one of the well-known connector cables, into a corresponding USB port. This strategy is required to automate the inspection process of USB ports. In the proposed method, we use the information from the camera and a force/torque sensor to minimize position uncertainties. The features of a USB port are detected by the vision system and the end-effector of the robot quickly moves to the front of the USB port through visual servoing. After that, an impedance controller is adopted to achieve a compliant contact motion and to overcome any existing translational/angular errors. The performance of the proposed USB assembly strategy was evaluated by a series of experiments using a 6 DOF industrial robot equipped with a force/torque sensor.
KW - Assembly strategy
KW - impedance control
KW - USB connector
KW - visual servoing
UR - http://www.scopus.com/inward/record.url?scp=84962692084&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84962692084&partnerID=8YFLogxK
U2 - 10.1109/URAI.2015.7358873
DO - 10.1109/URAI.2015.7358873
M3 - Conference contribution
SN - 9781467379700
SP - 114
EP - 117
BT - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -