Title :
Compensation of robot hand position using vision sensor
Author_Institution :
Dept. of Mech. Eng., Keio Univ., Yokohama, Japan
Abstract :
In order to locate a robot hand accurately, a vision sensor plays a key role by measuring the relative position. We consider a system with two 5-DOF manipulators to fit a bolt and nut in cooperative operation. We propose a novel method for measuring the relative position between the robot hand and an object using a vision sensor which is installed on the hand of one of the robots. Using the vision sensor, we can improve depth measurement accuracy. The method of compensation of the robot hand position is also given
Keywords :
CCD image sensors; assembling; manipulators; motion compensation; position control; position measurement; robot vision; 5-DOF manipulators; bolt-nut assemby; cooperative operation; depth measurement; relative position measurement; robot hand position compensation; vision sensor; Error correction; Fasteners; Intelligent sensors; Manipulators; Mechanical sensors; Position measurement; Robot kinematics; Robot sensing systems; Robot vision systems; Service robots;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location :
Bologna
Print_ISBN :
0-7803-1328-3
DOI :
10.1109/IECON.1994.397897
