Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2005.11.7.615

Vision-Based Part Shape and Misalignment Measurement in Cylindrical Peg-in-Hole Tasks  

Cho Hyung-Suck (한국과학기술원 기계공학과)
Kim Jin-Young (동명정보대학교 메카로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.7, 2005 , pp. 615-620 More about this Journal
Abstract
For successful deformable part assembly, information about its deformation as well as possible misalignment between the hole and its respective mating part are essential. Such information can be mainly acquired from visual sensors. In this paper, part deformation and misalignment in deformable cylindrical peg-in-hole tasks are measured by using a visual sensing system. First, a series of experiments to measure the position of an arbitrary point are performed. Next, an algorithm to measure misalignment and part shape as part deformation are presented, and a series of experiments on them are performed. Experimental results show that the proposed algorithms and the system are effective in measuring part deformation and misalignment.
Keywords
visual sensing system; part deformation; misalignment; three-dimensional measurement; cylindrical peg-in-hole task;
Citations & Related Records
연도 인용수 순위
  • Reference
1 H. Nakagaki, K. Kitagaki, T. Ogasawara and H. Tsukune, 'Study of insertion task of a flexible wire into a hole by using visual tracking observed by stereo vision,' Int. Conf. on Robotics and Automation, pp. 3209-3213,1996   DOI
2 J. Y. Kim, H. S. Cho, and S. Kim, 'A visual sensing system for measuring parts deformation and misalignments in flexible parts assembly,' Optics and Lasers in Engineering, vol. 30, no. 5, pp. 379-401,1998   DOI   ScienceOn
3 A. R. J. Francois, G. G. Medioni and R. Waupotitsch, 'Mirror symmetry: 2-view stereo geometry,' Image and vision computing, vol. 21, no. 2, pp. 137-143, 2003   DOI   ScienceOn
4 N. Pillow, S. Utcke and A. Zisserman, 'Viewpoint-invariant representation of generalized cylinders using the symmetry Set,' Image and Vision Computing, vol. 13, no. 5, pp. 355-365, 1995   DOI   ScienceOn
5 H. Inoue and H. lnaba, 'Hand-eye coordination in rope handling,' The 1st Int. Sym. on Robotics Research, pp. 163-174, 1985
6 W. S. Kim and H. S. Cho, 'A new omnidirectional image sensing system for assembling parts with arbitrary crosssectional shapes,' IEEE/ASME Trans. on Mechatronics, vol. 3, no. 4, pp. 275-292, 1998   DOI   ScienceOn
7 H. S. Cho, H. J. Warnecke and D. G. Kwon, 'Robotic assembly: a synthesizing overview,' Robotica, vol. 5, pp. 153-165, 1987   DOI   ScienceOn
8 J. Y. Kim, H. S. Cho, and S. Kim, 'Measurement of parts deformation and misalignments by using a visual sensing system,' IEEE Int. Sym. on Computational Intelligence in Robotics and Automation, pp. 362-267, 1997   DOI