Open AccessPose Estimation of a Small Connector Attached to the Tip of a Cable Sticking Out of a Circuit Board
Author(s) -
Changjian Ying,
Yaqiang Mo,
Yuichiro Matsuura,
Kimitoshi Yamazaki
Publication year - 2022
Publication title -
international journal of automation technology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.513
H-Index - 18
eISSN - 1883-8022
pISSN - 1881-7629
DOI - 10.20965/ijat.2022.p0208
Subject(s) - cable gland , grasp , printed circuit board , computer science , point cloud , pose , focus (optics) , float (project management) , robot , artificial intelligence , automation , computer vision , engineering , mechanical engineering , telecommunications , physics , marine engineering , optics , programming language , operating system
In this study, we present the pose estimation of a small connector attached to the tip of a cable sticking out from a circuit board. Since such connectors are generally small and float in various configurations on their workpieces, it is difficult to achieve automation of grasping and inserting the connector into the corresponding socket. We focus on the task of grasping a connector and propose methods for detecting the location of the connector and estimating its 6DoF pose. In this regard, we use a high-precision three-dimensional digitizer to capture the object point cloud and combine several methods, such as deep learning and registration, to perform data processing. We conducted grasp experiments on several connectors using an actual industrial robot and confirmed the effectiveness of our approach in terms of pose estimation.