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Dynamically Reconfigurable Robotic System — Assembly of New Type Cells as a Dual-Peg-in-hole Problem —

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Book cover Distributed Autonomous Robotic Systems

Abstract

In this paper, we first introduce a new type cell(module) of Self Organizing Manipulator that was developed by authors, then present a method for assembling this type of cell using manipulators. Since the new type of cells has two guides for connecting, it can also be considered as a dual-peg-in-hole issue. To obtain the effective assembly sequence, we observe the sequence of work and record force/torque data, psychological data of the people, while human was performing the same work. By analyzing the result of the experiment, we obtained a reasonable sequence for manipulator to perform such a work. We apply this result into the assembly of cells by using cooperation of camera and force/torque sensor. The analysis of force and geometric condition in the Dual-Peg-in-Hole issue, and results of experiments are also presented.

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Reference

  1. Fukuda, T., Xue, G., A Study on Dynamically Reconfigurable Robotic Systems(Assembling, Disassemblin and Reconfiguration of Cellular Manipulator by Cooperation of two Robot Manipualtors), IEEE/RSJ, IROS′91, Nov.3–5.1991, OSaka, Japan. pp1184–1189

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Author information

Authors and Affiliations

  1. Dept. of Mechano-Informatics and Systems, Nagoya Univ., Nagoya, 464-01, Japan

    Guoqing Xue, Toshio Fukuda & Fumihito Arai

  2. The Inst. of Physical and Chemical Research (RIKEN), Wako, 351-01, Japan

    Hajime Asama, Hayato Kaetsu & Isao Endo

Authors
  1. Guoqing Xue
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  2. Toshio Fukuda
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  3. Fumihito Arai
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  4. Hajime Asama
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  5. Hayato Kaetsu
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  6. Isao Endo
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Editor information

Editors and Affiliations

  1. The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, 351-01, Wako, Saitama, Japan

    Hajime Asama (Research Scientist) & Isao Endo (Chief Researcher) (Research Scientist) &  (Chief Researcher)

  2. Department of Mechano-Informaatics and Systems, Nagoya University, Furo, 464-01, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  3. Department of Precision Machinery Engineering, University of Tokyo, 7-3-1 Hongo, 113, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

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© 1994 Springer-Verlag Tokyo

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Xue, G., Fukuda, T., Arai, F., Asama, H., Kaetsu, H., Endo, I. (1994). Dynamically Reconfigurable Robotic System — Assembly of New Type Cells as a Dual-Peg-in-hole Problem —. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_34

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  • DOI: https://doi.org/10.1007/978-4-431-68275-2_34

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-68277-6

  • Online ISBN: 978-4-431-68275-2

  • eBook Packages: Springer Book Archive

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