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http://dx.doi.org/10.5370/JEET.2014.9.6.2162

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System  

Ha, Jong-Eun (Dept. of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
Lee, Wang-Heon (Dept. of Information Technology, Hansei University)
Publication Information
Journal of Electrical Engineering and Technology / v.9, no.6, 2014 , pp. 2162-2167 More about this Journal
Abstract
Robots are widely used in various automation processes in industrial applications. Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.
Keywords
Robot vision; Robot manipulation; Machine vision; 3D sensing;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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