Title :
A strategy of assembly task execution in the presence of uncertainties
Author :
Miyaguchi, K. ; Iwama, K.
Author_Institution :
Adv. Software Technol. & Mechatronics Res. Inst., Kyoto, Japan
Abstract :
This paper describes a strategy of assembly operations by robotic systems under various uncertainties, and makes clear conditions that robotic programs need to satisfy to deal with the uncertainties. A sphere in a six dimensional space is used to model the uncertainties of the position and orientation of a tip of a manipulator. The uncertainties of an operation force and torque are also modeled by a sphere in a six dimensional space. The authors´ strategy keeps a manipulating object in contact with another object at the final stage of assembly operations, and controls the manipulator in a way that the force between the objects stays in the sphere of forces. The authors describe conditions on robotic programs that keep the force between the objects within the sphere
Keywords :
assembling; industrial manipulators; robot programming; assembly task execution; manipulating object; robotic programs; six dimensional space; uncertainties; Deburring; Error correction; Humans; Manipulators; Mechatronics; Orbital robotics; Robotic assembly; Shape control; Space technology; Uncertainty;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351285