Task primitives for the discrete event modeling and control of 6-DOF assembly tasks

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 2, 1996, Pages 280-289

  McCarragher, Brenan J ^a,b  

^a AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

^b IEEE

Author keywords

[No Author keywords available]

Indexed keywords

DISCRETE EVENT MODELING; POLYGONAL PARTS; TASK PRIMITIVES;

ALGORITHMS; CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); DISCRETE TIME CONTROL SYSTEMS; MANUFACTURE; MATHEMATICAL MODELS; PETRI NETS; ROBUSTNESS (CONTROL SYSTEMS);

ROBOTIC ASSEMBLY;

EID: 0030129031     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.488947     Document Type: Article

References (18)

1. M. J. Best and K. Ritter, Linear Programming: Active Set Analysis and Computer Programs. Englewood Cliffs, NJ: Prentice-Hall, 1985.
2. M. Caine, "Chamferless assembly of rectangular parts in two and three dimensions," M.S. thesis, Dep. Mech. Eng., M.I.T., Cambridge, 1985.
3. T. Cao and A. C. Sanderson, "Sensor-based error recovery for robotic task sequences using fuzzy petri nets," in IEEE Conf. Robotics and Automation, May 1992, pp. 1063-1069.
4. S. Hirai and H. Asada, "A model based approach to the recognition of assembly process states using the theory of polyhedral convex cones," in Proc. 3rd Japan-USA Symp. Flexible Automation, 1990, pp. 809-816.
5. Y. C. Ho, Ed., Discrete Event Dynamic Systems: Analyzing Complexity and Performance in the Modern World. New York: IEEE Press, 1992.
6. G. E. Hovland and B. McCarragher, "State transition recognition in robotic assembly using hidden Markov models," in Australian Robotic Association Nat. Conf., July 1995, pp. 75-86.
7. M. Mason, "The mechanics of manipulation," in IEEE Int. Conf. Robotics and Automation, 1985, pp. 544-548.
8. B. McCarragher and H. Asada, "Qualitative template matching using dynamic process models for state transition recognition of robotic assembly," J. Dynam. Syst., Meas. Contr., vol. 115, no. 2A, pp. 261-275, June 1993.
9. _, "A discrete event controller using Petri nets applied to robotic assembly," IEEE/RSJ Int. Conf. Intelligent Robots and Systems, June 1992. pp. 2087-2094.
10. B. McCarragher, "A discrete event dynamic systems approach to robotic assembly," Ph.D. dissertation, Dep. Mech. Eng., M.I.T., Cambridge, July 1993.
11. _, "Petri net modeling and trajectory planning of robotic assembly tasks," IEEE Trans. Ind. Electron., vol. 41, no. 6, pp. 431-441, Dec. 1994.
12. _, "Error detection and recovery of robotic assembly tasks," IFAC Symp. Robot Control, Sept. 1994, pp. 891-896.
13. _, "Adaptive discrete event control for assembly: Theory and . industrial implementation," in Workshop Critical Issues in Robotics, Singapore, Oct. 1995, pp. 27-42.
14. B. McCarragher and H. Asada, "The discrete event modeling and trajectory planning of robotic assembly tasks," J. Dynam. Syst., Meas. Contr., vol. 117, no. 3, pp. 394-400, Sept. 1995.
15. _, "The discrete event control of robotic assembly tasks," J. Dynam. Syst., Meas. Contr., vol. 117, no. 3, pp. 384-393, Sept. 1995.
16. J. L. Peterson, Petri Net Theory and the Modeling of Systems. Englewood Cliffs, NJ: Prentice-Hall, 1981.
17. J. C. Trinkle and J. J. Hunter, "A framework for planning dexterous manipulations," in Proc. IEEE Conf. Robotics and Automation, 1991, pp. 1245-1251.
18. D. E. Whitney, "Quasistatic assembly of compliantly supported rigid parts," ASME J. Dynam. Syst., Meas. Contr., vol. 104, pp. 65-77, 1982.