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

2 Citations (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

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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