Yukihisa Karako, S. Kawakami, Keisuke Koyama, M. Shimojo, T. Senoo, M. Ishikawa
{"title":"动态可观察接触手的高速环插入","authors":"Yukihisa Karako, S. Kawakami, Keisuke Koyama, M. Shimojo, T. Senoo, M. Ishikawa","doi":"10.1109/ICRA.2019.8794120","DOIUrl":null,"url":null,"abstract":"This study proposes a dynamic observable contact (DOC) hand as a new multifingered hand to ensure high- speed insertion in an assembly process with a small clearance between objects. To achieve insertion with a small clearance at high speed, a robot hand must realize both impact reduction and position-error compensation when the two objects contact each other. The DOC hand, with its features of 6-degrees-of- freedom dynamic passivity and object-pose observability, can realize both impact reduction and position-error compensation. To evaluate the effectiveness of the DOC hand, we construct a robot system using the DOC hand. We evaluate the performance of the system in the task of ring insertion with a small clearance (0-36um). The results indicate that the robot system performs with a higher speed than a human. In fact, the average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. The DOC hand has opened up the possibility for achieving high-speed precision assembly using robots.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"74 1","pages":"2744-2750"},"PeriodicalIF":0.0000,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"High-Speed Ring Insertion by Dynamic Observable Contact Hand\",\"authors\":\"Yukihisa Karako, S. Kawakami, Keisuke Koyama, M. Shimojo, T. Senoo, M. Ishikawa\",\"doi\":\"10.1109/ICRA.2019.8794120\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This study proposes a dynamic observable contact (DOC) hand as a new multifingered hand to ensure high- speed insertion in an assembly process with a small clearance between objects. To achieve insertion with a small clearance at high speed, a robot hand must realize both impact reduction and position-error compensation when the two objects contact each other. The DOC hand, with its features of 6-degrees-of- freedom dynamic passivity and object-pose observability, can realize both impact reduction and position-error compensation. To evaluate the effectiveness of the DOC hand, we construct a robot system using the DOC hand. We evaluate the performance of the system in the task of ring insertion with a small clearance (0-36um). The results indicate that the robot system performs with a higher speed than a human. In fact, the average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. The DOC hand has opened up the possibility for achieving high-speed precision assembly using robots.\",\"PeriodicalId\":6730,\"journal\":{\"name\":\"2019 International Conference on Robotics and Automation (ICRA)\",\"volume\":\"74 1\",\"pages\":\"2744-2750\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-05-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 International Conference on Robotics and Automation (ICRA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICRA.2019.8794120\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Robotics and Automation (ICRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA.2019.8794120","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
High-Speed Ring Insertion by Dynamic Observable Contact Hand
This study proposes a dynamic observable contact (DOC) hand as a new multifingered hand to ensure high- speed insertion in an assembly process with a small clearance between objects. To achieve insertion with a small clearance at high speed, a robot hand must realize both impact reduction and position-error compensation when the two objects contact each other. The DOC hand, with its features of 6-degrees-of- freedom dynamic passivity and object-pose observability, can realize both impact reduction and position-error compensation. To evaluate the effectiveness of the DOC hand, we construct a robot system using the DOC hand. We evaluate the performance of the system in the task of ring insertion with a small clearance (0-36um). The results indicate that the robot system performs with a higher speed than a human. In fact, the average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. The DOC hand has opened up the possibility for achieving high-speed precision assembly using robots.