Integrated design of an end effector for a visual servoing algorithm

Abstract

An algorithm is presented for using a robot system with a single camera to position in threedimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accommodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction. SH7) 81 tH L M rir -A % 7 Q M b\ T 15 8 3 . , 7 k 3 IJ X b P B 1 2 tZ & d( 9 f & i A P a) 8 B B P & i ld . % %9J R $3 Q W l 1 $ Q z t c; ck 3 T 217 8 n Q fi , A % 7 0) I i E g f Q B H fi & I.\ 0 tERBTB, Q 0 R& a 9 270) r > t 3 3 3 9 -cnM* T I ; M , BEc; m!d 13 13 n t; n t! 2 tt h ' 5 cr)tffMQ ti zi 4 2 9 x 7 b c; 5 2 T P Q L t c; dr 5 , Q BB &I L; L m hi 2 15 8 n Q d; 3 I A & n T b\ Q 0 tEi % T r* 2 Q 3 3 . b L' t: c; B It; -d Q tf 2 0) fi h PhtPld, c 9 3 ~~~~~2 t t .~~T b~d r 7 T~~~h a 7 A / Z f '~X b c r ) % ? . i E J I 1 4 ld R I K d; 3 T 6% 3.3 n k tjc . A 81 cn % cr) 3 TJ yt cr) fi h & 2 c; 3 b\ 7 8 5 c; Idf R cn 52it!4f5wBt:R%3n&, INTRODUCTIONControl engineers frequently are faced with the problem of controlling a device to perform a task for which it is not particularly well-suited. A simple example of this is a two-link robot arm with rotary joints. In order to obtain straight-line motion of the end point, the motors at the two joints must properly control the two joint angles simultaneously. This is a nonlinear problem both kinematically and dynamically (Ref.

Intelligent robotic fettling using a visual feedback technique and force sensing

“…A maximum contact displacement is also set to prevent the wrist unit from being damaged. The equation for calculating the displacement is: (1) where d max is the maximum displacement, d c defines the displacement at the contact point, d min describes the minimum displacement, ∆X is the displacement of the white target piece along the X-axis and ∆Y defines the displacement of the white target piece along the Y-axis. In order to analyse the fettling forces using the CCD camera, images of the target are captured with the camera via a frame grabber board.…”

“…A visual servoing algorithm proposed by Palm et al [1] uses a robotic system with a single camera to insert a slender object into a hole in three-dimensional space. The algorithm relies on a control-configured end-effector to achieve the required horizontal translations and rotational motion.…”