DocumentCode :
1747340
Title :
Interpretation of force and moment signals for compliant peg-in-hole assembly
Author :
Newman, Wyatt S. ; Zhao, Yonghong ; Pao, Yoh-Han
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Volume :
1
fYear :
2001
fDate :
2001
Firstpage :
571
Abstract :
Interpretation of force and moment data is used to guide the searching phase of a circular peg-in-hole assembly. It is shown that the available measurements carry varying quality of information, ambiguous in much of the search space and relatively precise in a small region. By interpreting the history of sensory data acquired during an assembly attempt, reliable interpretation of the data is possible. A feature-based technique is described for interpreting sensory data. Experiments with robotic peg-in-hole assembly demonstrated a speed-up of nearly an order of magnitude relative to a blind search.
Keywords :
assembling; feature extraction; industrial robots; pattern matching; circular peg-in-hole assembly; compliant peg-in-hole assembly; feature-based technique; force signals; moment signals; Automotive engineering; Force control; Intelligent robots; Intelligent sensors; Jamming; Motion control; Orbital robotics; Robot motion; Robot sensing systems; Robotic assembly;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-6576-3
Type :
conf
DOI :
10.1109/ROBOT.2001.932611
Filename :
932611
Link To Document :
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