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.