힘/모멘트/비전센서를 사용한 챔퍼가 없는 부품의 삽입작업에 관한 연구

A Study on the Peg-in-hole of chamferless Parts using Force/Moment/Vision Sensor

This paper discusses the peg-in-hole task of chamferless parts using force/moment/vision sensors. The directional error occurring during the task are categorized into two cases according to the degree of initial errors, And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to continue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demonstrated through experimentation using 5-axis robot equipped with a developed controller force/moment sensor and color digital camera on its hand.