Development of production robot system that can handle flexible goods “project for strategic development of advanced robot element technologies / Robot Assembly System for FA equipment ”

摘要

We are developing a Robot Assembly System for FA (Factory Automation) equipment with a 3-D vision sensing system, a control method for assembly task, an offline programming system and an automatic error recovery system from task errors. We designed and developed the prototype of the robot assembly system to validate the developed items noted above. The system picks up and inserts cable using 3-D vision sensor. It also assembles a circuit board and a cover. And the system has the function that can fix a position misalignment of connector insertion automatically. We confirmed that the system can assemble a servo amplifier with connector-equipped cable as an example of flexible objects in the experiments. In this paper, we describe the overview of this development.