@inproceedings{f8452c7935b247da91b67d6d1ae9c3c0,
title = "USB assembly strategy based on visual servoing and impedance control",
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.",
keywords = "Assembly strategy, USB connector, impedance control, visual servoing",
author = "Song, {Hee Chan} and Kim, {Min Cheol} and Song, {Jae Bok}",
note = "Funding Information: This work was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KElT (No: 10038660) Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 ; Conference date: 28-10-2015 Through 30-10-2015",
year = "2015",
month = dec,
day = "16",
doi = "10.1109/URAI.2015.7358873",
language = "English",
series = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "114--117",
booktitle = "2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015",
}