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A sealing robot system with visual seam tracking

Published online by Cambridge University Press:  09 March 2009

Susumu Sawano ,
Junichi Ikeda ,
Noriyuki Utsumi ,
Yukio Ohtani ,
Akira Kikuchi ,
Yoshimasa Ito  and
Hiroshi Kiba
Susumu Sawano
Affiliation:
TOKICO Co., Ltd., 1-6-3 Fujimi, Kawasaki, Kanagawa, 210 (Japan)
Junichi Ikeda
Affiliation:
TOKICO Co., Ltd., 1-6-3 Fujimi, Kawasaki, Kanagawa, 210 (Japan)
Noriyuki Utsumi
Affiliation:
TOKICO Co., Ltd., 1-6-3 Fujimi, Kawasaki, Kanagawa, 210 (Japan)
Yukio Ohtani
Affiliation:
TOKICO Co., Ltd., 1-6-3 Fujimi, Kawasaki, Kanagawa, 210 (Japan)
Akira Kikuchi
Affiliation:
TOKICO Co., Ltd., 1-6-3 Fujimi, Kawasaki, Kanagawa, 210 (Japan)
Yoshimasa Ito
Affiliation:
TOKICO Co., Ltd., 1-6-3 Fujimi, Kawasaki, Kanagawa, 210 (Japan)
Hiroshi Kiba
Affiliation:
Production Engng. Div. III, Tokyo Kogyo Co., Ltd., Fuchu cho, Hiroshima, 730-91 (Japan)
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Summary

A new robot system has been introduced which was designed to seal the seams of car body panels. The system has nine degrees of freedom, and includes the following features: (1) A seam tracking servo using a solid-state TV camera is mounted at the robot hand to compensate for the seam deviations. (2) The robot arm is equipped with a flexible mechanism at the wrist to provide a wide working range for the seal nozzle. (3) A two axis orthogonal robot carrier is provided to make the robot follow the work on an indexed conveyor during the sealing operation. This paper deals with the structure and operation of the system and presents test results obtained on a sealing line.

Type
Article
Information
Robotica , Volume 2 , Issue 1 , January 1984 , pp. 41 - 46
Copyright
Copyright © Cambridge University Press 1984

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References

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