Assembly manipulation of small objects by dual-arm manipulator

作者：Shauri Ruhizan Liza Ahmad^*; Nonami Kenzo

来源：Assembly Automation, 2011, 31(3): 263-274.

DOI：10.1108/01445151111150604

• Dual-arm robot
• Image processing
• Object recognition
• Collision avoidance
• Assembly

Purpose - The purpose of this paper is to propose an assembly robot that exhibits specific human-like skills, with minimal structural cost and a number of external sensors.
Design/methodology/approach - The authors have employed vision processing using multiple cameras to determine targets and postures and propose strategies to determine the pose of a target and to prevent collisions between the fingers and obstacles in an environment with mixed objects. Furthermore, a dynamic trajectory planner integrates the vision and force sensors of the robot hand for the assigned task.
Findings - The authors obtained satisfactory experimental results for autonomous real-time grasping and screwing. The results verified the capability of the robot for handling small objects.
Research limitations/implications - More effective robotic manipulation requires a higher degree of target orientation data, which will be a future study of this research.
Practical implications - Practicality has been established through results, indicating the capability of the robot to implement human-like skilled manipulation of small objects. This can potentially reduce the high labor cost associated with the small-scale manufacture of custom-made products.
Originality/value - Screwing of nuts of minimum M2 size (diameter, 4.6 mm) and M8-M10 bolts (head diameter, 15-19.6 mm; length, 50-80 mm) by cooperating two seven-link arm manipulators and three-fingered hands shows the robot's capability to manipulate small objects.

• 出版日期2011