Title :
Discrete event systems approach to fixtureless peg-in-hole assembly
Author :
Chung, Seong-Youb ; Doo Yong, Lee.
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
Assembly tasks are normally performed with one robot and fixtures. Fixtures reduce the flexibility of the system and increase the cost of assembly. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are described by extended contact relations. Qualitative models for event evolution are easily derived from the marking of the Petri net model. The states are recognized through identification of the events using two 6-DOF force and moment sensors. The proposed method is verified and evaluated through experiments with round peg-in-hole assembly
Keywords :
Petri nets; assembly planning; discrete event systems; feedback; force control; industrial robots; production control; Petri net model; cooperative control; discrete event system; force feedback; industrial robots; peg-in-hole assembly; two-arm robot system; Assembly systems; Control systems; Discrete event systems; Fixtures; Force feedback; Force sensors; Manipulators; Robot sensing systems; Robotic assembly; Uncertainty;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945771