방향을 가진 물체 인식 알고리즘과 조립 전략을 활용한 단일 하네스 케이블 조립 공정

초록

In this paper, we introduce a novel harness cable assembly process for a single wire. The assembly process consists of two main procedures. First, with a single RGB camera, an oriented object detection algorithm was utilized to detect the orientation as well as the position of the cable. Through a series of calibration processes, the pose of the cable in camera coordinates was converted to that in robot coordinates and transmitted to a manipulator. Then, a 6-DOF manipulator performed a precise peg-in-hole task for the cable assembly through three assembly strategies; angle correction, lean-and-slide, and weaving. The feasibility of the proposed assembly process was validated with a success rate of 92 % by implementing several single-wire assembly tasks.

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