Abstract
Introduction of robots is progressing for the purpose of reducing work load and enhancing productivity in industrial fields where there are many mechanical work. In addition, it is expected that introducing robots that work in place of humans in extreme conditions such as space and disaster sites. To improve the dexterity of industrial robots, we investigate robotic assembly of fixtures used in the production lines. We not use a parallel gripper or dedicated hand, but use a 4-finger 12 d.o.f. hand with a camera attached on the palm and a 6-axis force sensor on the fingertip. In this paper, we investigate assembling fixture with bolts. The fixture used this time can't be assembled by the hand alone because the counter bore is done. Accordingly we grasp the tool made with 3D printer by the hand and tighten bolts. Also, in order to improve the accuracy of bolt insertion and reduce the time, we improve the fixture installation position correction method. We use a camera for object recognition and use a fingertip 6-axis force sensors to check the tightening torque and reliably grasp.
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