ML Anthology

Development of Hand-Eye System with 3-D Vision and Microgripper and Its Application to Assembling Flexible Wires

Tsugito Maruyama, Shinji Kanda, Masahiko Sato, Takashi Uchiyama
CVPR 1989 pp. 680-685
doi:10.1109/CVPR.1989.37919 /cvpr/1989/maruyama1989cvpr-development/

Abstract

A hand-eye system with 3-D vision system and a microgripper has been developed for handling, forming and inserting flexible wires in electronic assembles. The hand-eye system performs its task based on visual sensor and force sensor data. The vision system uses a camera, a laser-multiplanar light projector, and a videorate image processor to measure the 3-D geometry of flexible wires within one robot cycle. The measurement accuracy is better than 1 mm perpendicular to the plane for a depth of 500 mm. The microgripper has three-axis sensors capable of detecting three kinds of forces; grasping, pulling, and pushing. The dynamic range of the grasping force is 0.5 to 60 gf. This system has been used for wire assembling in magnetic-disk slider manufacture. Using recovery function, the success ratios for measurement, grasping and upper insertion were 100%. The design concepts, the 3-D measurement, the hand-eye system, and the wire-assembling application are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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Cite

Text

Maruyama et al. "Development of Hand-Eye System with 3-D Vision and Microgripper and Its Application to Assembling Flexible Wires." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1989. doi:10.1109/CVPR.1989.37919

Markdown

[Maruyama et al. "Development of Hand-Eye System with 3-D Vision and Microgripper and Its Application to Assembling Flexible Wires." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1989.](https://mlanthology.org/cvpr/1989/maruyama1989cvpr-development/) doi:10.1109/CVPR.1989.37919

BibTeX

@inproceedings{maruyama1989cvpr-development,
  title     = {{Development of Hand-Eye System with 3-D Vision and Microgripper and Its Application to Assembling Flexible Wires}},
  author    = {Maruyama, Tsugito and Kanda, Shinji and Sato, Masahiko and Uchiyama, Takashi},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1989},
  pages     = {680-685},
  doi       = {10.1109/CVPR.1989.37919},
  url       = {https://mlanthology.org/cvpr/1989/maruyama1989cvpr-development/}
}