Hole Detection Algorithm for Chamferless Square Pegin-Hole based on Shape Recognition using F/T Sensor
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Young-Loul | - |
dc.contributor.author | Song, Hee-Chan | - |
dc.contributor.author | Song, Jae-Sok | - |
dc.date.accessioned | 2021-09-05T11:16:13Z | - |
dc.date.available | 2021-09-05T11:16:13Z | - |
dc.date.created | 2021-06-15 | - |
dc.date.issued | 2014-03 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/99245 | - |
dc.description.abstract | Precision parts are difficult to assemble using only position control. To deal with this difficulty, force control approaches, which provide proper motion responses against contact forces, are investigated Moreover, hole detection is a crucial step in eliminating the uncertainty in robotic assembly. Without a proper hole detection algorithm, assembly time increases with the position difference between the peg and the hole. In this study, we propose a shape recognition algorithm based on a 6-axis F/T sensor and a hole detection algorithm. The proposed hole detection algorithm can find the direction of a hole regardless of the size of the position error between the peg and the hole with some overlap of the hole and the peg. The same algorithm can be implemented not only for a circular peg, but also for a polygonal convex peg. A series of experimental results show that the proposed algorithms can estimate the shape and location of a peg reasonably well. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.title | Hole Detection Algorithm for Chamferless Square Pegin-Hole based on Shape Recognition using F/T Sensor | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Song, Jae-Sok | - |
dc.identifier.doi | 10.1007/s12541-014-0353-6 | - |
dc.identifier.scopusid | 2-s2.0-84897805236 | - |
dc.identifier.wosid | 000332904700005 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.15, no.3, pp.425 - 432 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 15 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 425 | - |
dc.citation.endPage | 432 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001853988 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordAuthor | Robotic assembly | - |
dc.subject.keywordAuthor | Assembly strategy | - |
dc.subject.keywordAuthor | Force control | - |
dc.subject.keywordAuthor | Vision system | - |
dc.subject.keywordAuthor | Shape recognition | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.