A sealant dispensing robot for applications with moving targets
Towards the goal of realizing next-generation smart manufacturing, we developed a sealant dispensing robot to deal with moving targets of no prior knowledge (shape, placed pose and position, moving speed, etc.) based on our previously proposed dynamic compensation framework. To realize accurate sealant dispensing for works of unknown shape that are randomly placed on a moving conveyor, the robot was designed based on a coarse-to-fine strategy such that an arm part (2-DOF) for long-term adaptation of uncertainties in a global manner (global planning), and a hand part (2-DOF) for real-time adaptation of uncertainties in a local manner (real-time error absorption). Specifically, the hand part was utilized with 1,000 fps visual feedback control. The developed robot can be either work in the auto mode without any human intervention, or work in a human-robot mode to collaborate with human.
http://ishikawa-vision.org/fusion/Dis...
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