masterhead masterhead  masterhead

A sealant dispensing robot for applications with moving targets

Summary

Traditionally, it is difficult for a general robot to achieve fast speed, good accuracy, and good adaptability to unstructured environment simultaneously. In this research, we developed a sealant dispensing robot for moving targets of no prior knowledge (shape, placed pose and position, moving speed, etc.) based on our previously proposed dynamic compensation framework. To realize accurate sealant dispensing for works of unknown shape that are randomly placed on a moving conveyor, the robot as shown in Fig.1, was designed based on a coarse-to-fine strategy such that an arm part (2-DOF) for long-term adaptation of uncertainties in a global manner (global planning), and a hand part (2-DOF) for real-time adaptation of uncertainties in a local manner (real-time error absortion). Specifically, the hand part was capable of high-speed feedback motion control by utilizing 1,000 fps vision feedback. Primary evaluation results as shown in Fig.2 demonstrated the effectiveness of the developed system.



 
 
Fig.1 Developed robot system


 
 
Fig.2 working target before and after dispensing

Movie




If you want to use the original video, please send an e-mail for copyright permission to contact

Reference

  1. Shouren Huang, Kenichi Murakami, Masatoshi Ishikawa. Development of a Sealant Dispensing Robot for Moving Targets of no Prior-Knowledge. The 23th SICE System Integration Division Annual Conference (SI2022), Dec. 14-16, 2022
  2. Best Presentation Award
Ishikawa Group Laboratory
Research Institute for Science & Technology, Tokyo University of Science /
Data Science Research Division, Information Technology Center, University of Tokyo
Ishikawa Group Laboratory WWW admin: contact
Copyright © 2008 Ishikawa Group Laboratory. All rights reserved.