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Task Planning of Assembly of Flexible Objects and Vision-Based Verification

Published online by Cambridge University Press:  01 May 1998

Jun Miura  and
Katsushi Ikeuchi
Jun Miura
Affiliation:
Department of Computer-Controlled Mechanical Systems, Osaka University, 2-1, Yamadaoka, Suita, Osaka 565, Japan
Katsushi Ikeuchi
Affiliation:
Institute of Industrial Science, The University of Tokyo, 7-22-1, Roppongi, Minato, Tokyo 106, Japan
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Abstract

The ability of manipulating flexible objects, such as rubber belts and paper sheets, is important in automated manufacturing systems. This paper describes a novel approach to vision-guided assembly of flexible objects. The operation dealt with in this paper is to assemble a rubber belt with fixed pulleys. By analyzing possible states of the belt based on the empirical knowledge of the belt, we can derive a method to have not only the action planning but also the visual verification planning. We have implemented a belt assembly system using the two manipulators and a laser range finder as the sensor, and succeeded in performing the belt-pulley assembly. The extension of our approach to other kinds of assembly of flexible objects is also discussed.

Keywords

Flexible objectsTask planningVision-guided assemblyRubber belt
Type
Research Article
Information
Robotica , Volume 16 , Issue 3 , May 1998 , pp. 297 - 307
Copyright
© 1998 Cambridge University Press

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