光学式触覚センサを用いたコネクタ挿入システム

抄録

In recent years, many researchers have been working on a connector insertion task using a real robot. There is a wide variety of connectors used at the manufacturing site, and it is necessary to insert them while changing gripping them. While there are many research results that are robust against socket misalignment, there are few research results that are robust against connector misalignment. In this research, we propose a system that estimates the grip position deviation from the image taken by the optical tactile sensor and corrects the demo trajectory. We also applied this system to connector insertion in a real robot environment and evaluated its performance.