Title :
Unpositioned Workpieces Handling Robot with Visual and Force Sensors
Author :
Mochizuki, Jun ; Takahashi, Michio ; Hata, Seiji
Author_Institution :
Production Engineering Research Laboratory, Hitachi, Ltd., 292 Yoshida-machi, Totsuka-ku, Yokohama 244, Japan.
Abstract :
A robot which can handle unpositioned workpieces using a three-dimensional (3-D) vision sensor and a force sensor has been developed. It can pick up an unpositioned small connector and mount it correctly on a printed circuit board. This paper presents the robot system configuration and its operation
Keywords :
Cameras; Connectors; Force sensors; Image sensors; Intelligent robots; Robot kinematics; Robot sensing systems; Robot vision systems; Robotic assembly; Wire;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.1987.350915
