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Sensor-based analysis of high-precision insertion tasks
https://doi.org/10.24517/00007531
https://doi.org/10.24517/00007531b112927f-df0c-4b0a-b288-9d8c6c0645a9
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-YONEYAMA-T-1892.pdf (347.0 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||||
|---|---|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||||
| タイトル | ||||||||
| タイトル | Sensor-based analysis of high-precision insertion tasks | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| 資源タイプ | ||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||
| 資源タイプ | journal article | |||||||
| ID登録 | ||||||||
| ID登録 | 10.24517/00007531 | |||||||
| ID登録タイプ | JaLC | |||||||
| 著者 |
Yamamoto, Yoshio
× Yamamoto, Yoshio× Yoneyama, Takeshi× Hashimoto, Tadashi× Okubo, Takahiro× Itoh, Toyotsugu |
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| 著者別表示 |
米山, 猛
× 米山, 猛
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| 提供者所属 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 金沢大学大学院自然科学研究科知的システム創成 | |||||||
| 提供者所属 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 金沢大学工学部 | |||||||
| 書誌情報 |
IEEE International Conference on Intelligent Robots and Systems 巻 2, p. 1892-1897, 発行日 2002-01-01 |
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| DOI | ||||||||
| 関連タイプ | isIdenticalTo | |||||||
| 識別子タイプ | DOI | |||||||
| 関連識別子 | https://doi.org/10.1109/irds.2002.1044032 | |||||||
| 出版者 | ||||||||
| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||||
| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | A lot of research efforts an assembly automation problems have been given by many researchers from a variety of communities, e.g., manufacturing, robotics, artificial intelligence and so on. They mostly focused on the geometric constraints related to a considered task, e.g., relative configuration change between the peg and the hole. Such an approach, however, seems valid only when the dimensional tolerance is fairly large so that it allows to change the relative configuration of the two mating parts in an obvious fashion. This paper investigates the mechanism of a high-precision insertion process from the viewpoint of sensory information. Tolerance considered in the present study is approximately 5 μm. Currently the assembly task is being conducted by skilled human workers. In order to analyze the insertion task, we focus on force and moment information and inclination measurements. Conventional approach, i.e., a position-based analysis, is not appropriate for such a narrow dimensional tolerance because it is unlikely that human operators conduct the task based on position information. This paper presents a newly developed, high-sensitivity moment sensor and experimental results in high-precision insertion tasks. | |||||||
| 著者版フラグ | ||||||||
| 出版タイプ | VoR | |||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||
