Vision and Force Sensing to Decrease Assembly Uncertainty - Precision Assembly Technologies and Systems Access content directly
Conference Papers Year : 2010

Vision and Force Sensing to Decrease Assembly Uncertainty


This paper presents two ways of decreasing the assembly uncertainty of micro assembly tasks through further or optimized integration of sensors within a size adapted assembly system. To accomplish this, the orientation of the part to be placed with respect to the vision sensor is changed. This was possible through a new gripper which was able to overcome the restrictions placed on the system by the vision sensor. Another increase in precision was obtained through the integration of a force sensor into the wrist of the robot. This force sensor provides additional information about the placing process which allows the maximal force in the vertical axis to be limited. These improvements are then demonstrated on a task which requires the placement of linear guides which are 8.4 millimeters by 1 millimeter.
Fichier principal
Vignette du fichier
Paper_3_-_ELLWOOD.pdf (434.33 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01055693 , version 1 (13-08-2014)





R. John Ellwood, Annika Raatz, Jürgen Hesselbach. Vision and Force Sensing to Decrease Assembly Uncertainty. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. pp.123-130, ⟨10.1007/978-3-642-11598-1_14⟩. ⟨hal-01055693⟩
120 View
180 Download



Gmail Facebook X LinkedIn More