USB assembly strategy based on visual servoing and impedance control

Song, Hee-Chan; Kim, Min‐Cheol; Song, Jae-Bok

doi:10.1109/urai.2015.7358873

Cited by 3 publications

References 5 publications

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Uncertainty-integrating, automated design of gripper jaws for robust grasping of electrical connectors

Gebauer,

Geng,

Hartmann

et al. 2024

Prod. Eng. Res. Devel.

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For robust grasping of workpieces with complex surface geometries such as the plugs of electrical connectors (ECs), individually designed gripper jaws are commonly required. The manual design of the latter is time-consuming, iterative, expensive, and requires expert knowledge. Therefore, automating the design process offers the potential to increase efficiency and reduce costs. However, the plugs of ECs often involve interference contours which pose a high risk for a grasp to fail. Thus, this paper introduces an approach for the automated design of gripper jaws that considers complex surface geometries with interference contours. Thereby, expected geometric uncertainties in the relative pose between a plug and a gripper system can be parameterized by a user. The key steps of our approach are to automatically simulate collision volumes between the gripper jaws and the workpiece to map geometric uncertainties in software for computer-aided design (CAD) and to adapt the gripper jaws accordingly within minutes and without manual design. The results of the experimental validation using three different high-voltage plugs show that the presented approach is suitable for robust grasping of such workpieces. In summary, our work intends to contribute to a more efficient design process of gripper systems for workpieces with complex surface geometries such as plugs of ECs.

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Uncertainty-integrating, automated design of gripper jaws for robust grasping of electrical connectors

Gebauer,

Geng,

Hartmann

et al. 2024

Prod. Eng. Res. Devel.

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Satellite Assembly Technology by Robot under Visual Guidance

Zhang

Chen

2020

2020 IEEE International Conference on Mechatronics and Automation (ICMA)

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Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

Yumbla

Auh

et al. 2021

Journal of Mechanisms and Robotics

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A passive aligning strategy for the assembly task of a ribbon cable is presented using a sliding surface gripper. Once the gripper grasps the ribbon cable, the sliding surface of the gripper pulls the cable in one direction, and at the end of the pulling process, the box-shaped structure of the fingertip of the gripper passively aligns the cable to a predictable pose. The relationship between the alignment speed of the cable on the sliding surface and the grasping force was modeled and verified by experiments. The maximum position error of the ribbon cable connector aligned by the proposed method was 0.7 mm, which was smaller than the mating tolerance between typical male-and-female connectors. The mating of the connectors was successfully conducted with an industrial robot (ABB IRB120) whose repeatability is less than a millimeter. The entire assembly process of ribbon cable connectors, including visual recognition of the ribbon cable pose, grasping and aligning of the ribbon cable, and mating a pair of cable connectors, was successfully implemented.

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USB assembly strategy based on visual servoing and impedance control

Cited by 3 publications

References 5 publications

Uncertainty-integrating, automated design of gripper jaws for robust grasping of electrical connectors

Uncertainty-integrating, automated design of gripper jaws for robust grasping of electrical connectors

Satellite Assembly Technology by Robot under Visual Guidance

Passive Aligning of Ribbon Cable in Sliding Surface Gripper for Assembly Task

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