Design and implementation of a multi-sensor robot system for printed circuit board insertionThe design and implementation of a robot system equipped with multiple sensors are described. The robotic assembly system couples the task sequence of the robot with information from different sensors, enabling the system to handle uncertainties encountered during task execution. The target task involves the insertion of a printed circuit board into a card cage. The sensors used are an overhead three-dimensional vision system, a fingertip cross-fire sensor, and a 6-DOF force/torque sensor. The vision system is used to locate the printed circuit boards and the insertion slots. Information provided by the cross-fire sensor is used to complement the information from the vision system in order to obtain a proper grasping location on the printed circuit board. A fuzzy-logic-based system is used to interpret the forces and torques generated by the force/torque sensor during the insertion process. The repeated success of this assembly task over many experimental trials verifies the modeling and controller assumptions.
Document ID
19890066046
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Sood, Deepak (Rensselaer Polytechnic Inst. Troy, NY, United States)
Repko, Michael C. (Rensselaer Polytechnic Inst. Troy, NY, United States)
Kelley, Robert B. (Rensselaer Polytechnic Institute, Troy, NY, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation