USB assembly strategy based on visual servoing and impedance control

Hee Chan Song, Min Cheol Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages114-117
Number of pages4
ISBN (Print)9781467379700
DOIs
Publication statusPublished - 2015 Dec 16
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 2015 Oct 282015 Oct 30

Other

Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
CountryKorea, Republic of
CityGoyang City
Period15/10/2815/10/30

Fingerprint

Visual servoing
Cables
Torque
Industrial robots
Sensors
End effectors
Inspection
Cameras
Robots
Controllers
Experiments
Uncertainty

Keywords

  • Assembly strategy
  • impedance control
  • USB connector
  • visual servoing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Song, H. C., Kim, M. C., & Song, J-B. (2015). USB assembly strategy based on visual servoing and impedance control. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 114-117). [7358873] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358873

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 proceedingConference contribution

Song, HC, Kim, MC & Song, J-B 2015, USB assembly strategy based on visual servoing and impedance control. in 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015., 7358873, Institute of Electrical and Electronics Engineers Inc., pp. 114-117, 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015, Goyang City, Korea, Republic of, 15/10/28. https://doi.org/10.1109/URAI.2015.7358873
Song HC, Kim MC, Song J-B. USB assembly strategy based on visual servoing and impedance control. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 114-117. 7358873 https://doi.org/10.1109/URAI.2015.7358873
Song, Hee Chan ; Kim, Min Cheol ; Song, Jae-Bok. / USB assembly strategy based on visual servoing and impedance control. 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 114-117
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