Assembly Planning of Objects with Elasticity
| Project/Area Number |
23300078
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
HARADA Kensuke 独立行政法人産業技術総合研究所, 知能システム研究部門, 研究グループ長 (50294533)
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| Co-Investigator(Kenkyū-buntansha) |
ONDA Hiromu 産業技術総合研究所, 主任研究員 (40356746)
NAGATA Kazuyuki 産業技術総合研究所, 主任研究員 (10357634)
YAMANOBE Natsuki 産業技術総合研究所, 主任研究員 (90455436)
YOSHIDA Eiichi 産業技術総合研究所, 副部門長 (30358329)
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| Project Period (FY) |
2011-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000)
Fiscal Year 2013: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2012: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2011: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
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| Keywords | 産業用ロボット / 組立作業 / 力制御 / ロボット / 知能ロボット |
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| Outline of Final Research Achievements |
In this research, we consider the assembly problem of parts with elasticity. When a robot manipulator assemble two plastic parts, the snap joints are usually equipped with one of the parts. To assemble such parts, we have to consider the elastic deformation of the snap joints. For this assembly problem, we propose a method to construct the contact state transition graph based on the physical simulation of assembly. We also define the action states of assembly and propose a assembly controller realized by switching multiple force controllers. We furthermore propose a method for identifying the assembly state based on the force sensor information.
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Report
(4 results)
Research Products
(20 results)
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[Journal Article] Towards Snap Sensing2013
Author(s)
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, and Yoshihiro Kawai
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Journal Title
International Journal of Mechatronics and Automation
Volume: 3
Pages: 63-80
Related Report
Peer Reviewed / Open Access
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