| Title: | GS5-1 Research on robotic assembly of gear motors (Stator recognition using keypoint matching and stator insertion using contact position estimation) |
|---|---|
| Publication: | ICAROB2023 |
| Volume: | 28 |
| Pages: | 924-927 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2023.GS5-1 |
| Author(s): | Yasumoto Imai, Takayoshi Yamada, Junya Sato, Toshiki Hayashi, Shota Aono |
| Publication Date: | February 9, 2023 |
| Keywords: | Robotic assembly, Keypoint matching, Contact point estimation, Gear motors, Image sensor, 6-axis force sensor |
| Abstract: | This paper describes a robotic assembly system for gear motors. Currently, automation through the introduction of robots is being actively implemented in various fields. However, assembly tasks, which require dexterous skills, are still often performed manually. Humans use information such as vision and hand sensation to accomplish these tasks. Therefore, research is being conducted to develop assembly robots using cameras and force sensors. In this paper, two main methods, key point matching and contact position estimation, are used to realize the gear motor assembly work, which is the insertion of the stator into the reducer. Keypoint matching is used to recognize the position and orientation of the part using a camera. Contact position estimation is used to detect contact between parts in the insertion process using a force sensor to prevent failure of the insertion operation. An experimental system using these methods is developed to achieve automatic stator insertion. |
| PDF File: | https://alife-robotics.co.jp/members2023/icarob/data/html/data/GS/GS5/GS5-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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