USB assembly strategy based on visual servoing and impedance control

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

doi:10.1109/URAI.2015.7358873

USB assembly strategy based on visual servoing and impedance control

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

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.1109/URAI.2015.7358873
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

Keywords

Assembly strategy
impedance control
USB connector
visual servoing

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/URAI.2015.7358873

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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

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

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