| Project/Area Number |
23700227
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Tohoku University |
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Principal Investigator |
JIANG XIN 東北大学, 工学(系)研究科(研究院), 助教 (30451537)
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| Research Collaborator |
KOO Kyongmo 東北大学, 大学院工学研究科航空宇宙工学専攻
NAGAOKA Yuki 東北大学, 大学院工学研究科機械システムデザイン専攻
ISHII Kazushi 東北大学, 機械システムデザイン専攻
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| Project Period (FY) |
2011-04-28 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | 組立自動化 / 柔軟物ハンドリング / なぞり動作 / 取り付け自動化 / 知能ロボット |
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| Outline of Final Research Achievements |
This research was focused on finding methods for automatically mating a wire harness onto a car body utilizing multiple robot manipulators. For the purpose, a method was proposed for robot motion planning, which is characterized by taking effect of wire dynamics into account. In addition, a new method was also proposed for simplify the problem of wire state recognition. The method imitated the behavior of human when he has to find a plug on a cable blindly. In this way, by tracing the wire segment with the griper, it is possible to recognize the shape and state of a wire harness. From the conducted verification experiments, the effectiveness of the proposal was proved.
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