A Novel Disassembly Strategy of Hexagonal Screws Based on Robot Vision and Robot-Tool Cooperated Motion
نویسندگان
چکیده
Disassembly plays an important role in the production process. Screw automatic unfastening guided by a robot has been widely used fields of industrial manufacturing and maintenance. Different from previous studies that have flexible effector expensive sensors, this paper presents novel strategy based on vision for hexagonal screw with arbitrary loose state. In robotic system, camera servo tool are installed at end-effector. The main contributions work as follows. A pose adjustment method is proposed to obtain high-quality images target screw. calculation geometric analysis developed complete screw–tool engagement. cooperated motion planned action. effectiveness control verified experiments, influence speed quality analyzed using torque data collected tool. results can provide significant foundation parameter selection strategy.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13010251