Robot application for assembly process of engine part

摘要

Industrial robot is used to accomplish the repeated simple job efficiently and the improvement of its productivity is already proven in long time ago. But so far the industrial robot has the limitation of its application in industrial site. And in this study the technology of robot application is shown to expand the scope of robot application. Even though human being could easily accomplish the complex assembly jobs by using the arm with dexterous gripper, there are several problems in the case of robot application to those jobs. Because of these reasons, in this study the function of visual servo and the cooperation control of dexterous hands are realized to accomplish the given assembly jobs.