Workpiece position and posture measurement system by using RFID tag for finishing robot system

The authors are developing programming less force controlled finishing robot system which is applied environment and task motion framework technology. In order that the robot handles a workpiece and carries out a finishing work automatically, position and posture information of a workpiece is needed. This paper proposes a realization method for workpiece position and posture measurement system by using RFID tags, and the measurement error of this system is analyzed. The authors clarified that position and posture measurement errors become smaller by using the information of the distance between two tags attached to the workpiece.

1. Introduction

Recently, the factory automation has progressed by introduction of industrial robots. Industrial robots are used for welding, painting, assembling work, etc. However, industrial robots are not much introduced to finishing works, such as grinding, chamfering, and polish work. These works are performed by skilled worker. One of the reasons is that users are needed highly expert knowledge for using these robots.