Paper Info
Title
Visual sensor-based measurement for deformable peg-in-hole tasks
Abstract
Unlike rigid parts, deformable parts can be deformed by contact force during assembly. For successful assembly, information about their deformation as well as possible misalignments between the holes and their respective mating parts are essential. In the paper, the locations of marks in three-dimensional space are identified by using a visual sensing system, and part deformation and misalignment in deformable cylindrical peg-in-hole tasks are measured by using the sensing system. Experimental results show that the system and the measurement algorithm are effective in measuring part deformation and misalignment, thereby dramatically increasing the success rate in assembly operations
Year
DOI
Venue
1999
10.1109/IROS.1999.813064
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference
Keywords
Field
DocType
assembling,edge detection,image sensors,deformable peg-in-hole tasks,misalignments,part deformation,visual sensor-based measurement
Computer vision,Sensing system,Image sensor,Computer science,Assembly systems,Edge detection,Cylinder,Contact force,Artificial intelligence,Face detection,Deformation (mechanics)
Conference
Volume
ISBN
Citations 
1
0-7803-5184-3
1
PageRank 
References 
Authors
0.46
2
2
Name
Order
Citations
PageRank
Kim, J.Y.110.46
Hyungsuck Cho221324.88