A Method for Transferring Robot Motion Parameters Using Functional Attributes of Parts

• Published in: Advances in Visual Computing Vol. 13018; pp. 154 - 165
• Main Authors: Suzuki, Takahiro, Hashimoto, Manabu
• Format: Book Chapter
• Language: English
• Published: Switzerland Springer International Publishing AG 2021; Springer International Publishing
• Series: Lecture Notes in Computer Science
• Subjects: Functional-attribute recognition; Physical simulation; Robot motion transferring
• ISBN: 9783030904357; 3030904350
• ISSN: 0302-9743; 1611-3349
• DOI: 10.1007/978-3-030-90436-4_12

We propose a method for automatically transferring robot motion parameters among parts. Various parts are used for assembly in factories, for example, “connecting rods”, “gears”, and “links”. During robotic assembly, operators have to assign robot motion parameters for each assembly part, which is time-consuming. Many assembly parts often have the same name and similar functionality but different shapes and sizes. For example, all connecting rods have two ring-shaped holes and a long rod-shaped part that connects them. Therefore, if the parts are in the same category, each part has a common “function”. We focus on such “functions”. The robot motion parameters are transferred among parts using these “functions”. We conducted experiments to evaluate the proposed method involving two types of parts, connecting rods and links. The component-insertion success rate of approximately 80% or more was obtained. With this method, the time required for an operator to transfer robot motion parameters is reduced.