DocumentCode
839970
Title
A self-learning automaton with variable resolution for high precision assembly by industrial robots
Author
Simons, J. ; Brussel, H. ; De Schutter, J. ; Verhaert, J.
Author_Institution
Belgian National Fund for Scientific Research, Brussels, Belgium
Volume
27
Issue
5
fYear
1982
fDate
10/1/1982 12:00:00 AM
Firstpage
1109
Lastpage
1113
Abstract
This paper reports on the use of the stochastic automaton theory to configure control algorithms for high precision assembly operations performed with a force-sensing robot. The basic principle of the stochastic automation, i.e., its variable structure, has been extended to the dimensionality of the automaton by gradually optimizing the resolution of the input variables.
Keywords
Manipulators; Stochastic automata; Automatic control; Force control; Industrial control; Input variables; Learning automata; Quantization; Robotic assembly; Robotics and automation; Service robots; Stochastic processes;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.1982.1103060
Filename
1103060
Link To Document