Assembly Planning of Objects with Elasticity

2014 Fiscal Year Final Research Report

• Project/Area Number: 23300078
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: National Institute of Advanced Industrial Science and Technology
• 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)
• 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)
• Project Period (FY): 2011-04-01 – 2015-03-31
• Keywords: 産業用ロボット / 組立作業 / 力制御

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.

Free Research Field

ロボット工学