Fuzzy logic compliance control of the peg in hole insertion

Control Engineering Practice

Volumn 6, Issue 12, 1998, Pages 1459-1474

  Naghdy, F ^a   Nguyen, N P ^a  

^a UNIVERSITY OF WOLLONGONG   (Australia)

Author keywords

Force control; Fuzzy control; Heuristics; Knowledge based control; Robotics

Indexed keywords

PEG-IN-HOLE INSERTION;

ALGORITHMS; CONSTRAINT THEORY; FORCE CONTROL; FUZZY SETS; HEURISTIC METHODS; INFERENCE ENGINES; MATHEMATICAL MODELS; MOTION CONTROL; POSITION CONTROL; ROBOTICS; SENSOR DATA FUSION;

FUZZY CONTROL;

EID: 0032312465     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(98)00136-1     Document Type: Article

References (34)

1. Arai, T., & Kinoshita, K. (1981). The part mating forces that arise when using a worktable with compliance. Assembly Automat. 204-210.
2. Asada, H., & Izumi, H. (1989). Automatic program generation from teaching data for the hybrid control of robots. IEEE Trans. Robot. Automat., 5(2), 163-173.
3. Asada, H. (1990a). Teaching and learning of compliance using neural nets: representation and generation of non linear compliance. Proc. IEEE Int. Conf. Robotics and Automation (pp 1237-1244).
4. Asada, H. (1990b). Teaching and learning for robot compliance control. Proc. Japan-USA Sump, on Flexible Automation (pp. 643-648).
5. Cailot, F., & Kerlidou, M. (1984). Air stream compliance. 5th Int. Conf. on Assembly Automation, pp. 225-233. Paris, France.
6. Caine, M.E., Lozanno-Perez, T., Warren, P, & Seering, W.P. (1989). Assembly strategies for chamferless parts. Proc. IEEE Int. Conf. Robotics. and Automation (pp. 472-477).
7. Cho, H.S., Warnecke, H.J., & Gweon, D.G. (1987). Robotics assembly: a synthesising overview. Robotica, 5, 153-165.
8. Cutkosky, M.R., & Wright P.K. (1981). Position sensing wrists for industrial manipulators. Proc. 11th Int. Symp. on Industrial Robots, pp. 427-434. Tokyo, Japan.
9. Ganovski, V.S., Neskov, T.D., & Boyadjiev, I.K. (1980). Some possibilities on increasing the industrial robot application in automatic assembly. 1st Int. Conf. Assembly Automation, (pp. 287-294).
10. Girel, A.M. (1977). Using a rotating magnetic field for the grippers of industrial robot. Russian Engng. J., 57(6), 43-45.
11. Goryachko, V.I. et al. (1977). Vacuum method of automatic assembly. Russian Engng, 57(1), 61-62.
12. Goto, T., Takeyasu, K., & Inoyama, T. (1980). Control algorithm for precision insert operation robots. IEEE Trans. Systems Man Cybernet, 19, 19-25.
13. Gottschlich, S.N., & Kak, A.C. (1989). A dynamic approach to hight-precision parts mating. IEEE Trans. Systems Man Cybernet, 19, 797-810.
14. Gurocak, H.B., & Lazaro A.S. (1995). Fuzzy logic and position sensing for precision assembly. J. Robot. System, 12(2), 135-146.
15. Hoffman, B.D., Pollack, H., & Weissman, B. (1985). Vibratory insertion process: A new approach to non-standard component insertion. Robot, 8.
16. Lee, C.C. (1990). Fuzzy logic in control system: fuzzy logic controller-Parts I, II. IEEE Trans. Systems Man Cybernet, 20(2), 419-435.
17. Mashinostroeniya, V. (1976). Assembling joints by magnetic methods of orientation. Russian Engng. J., 56(4), 68-71.
18. Mason, M.T. (1981). Compliance and force control for computer control manipulators. IEEE Trans. System Man Cybernet., SMC-11(6).
19. McCallion, H., Jonhson, G.R., & Pham, D.T. (1979). A compliant device for inserting a peg into the hole. The Ind. Robot, 81-87.
20. Nguyen, N.P. (1996). Fuzzy controlled compliance in automatic assembly. ME Thesis, University of Wollongong.
21. Nuttin, M., Brussel, H.V., Peirs, J., Soembagijo, A.S., & Sonck, S. (1995). Learning the peg-into-hole assembly operation with a connectionist reinforcement technique. 2nd Int. CIRP Workshop on Learning in Interligent Manufacturing systems (pp. 335-357) Budapest, Hungary.
22. Nuttin, M., Brussel, H.V., Baroglio, C., & Piola, R. (1994a). Fuzzy Controller Synthesis in Robotic Assmbly: Procedure and Experiments. New York: IEEE.
23. Nuttin, N., Baroglio, C., Giordana, A., Kaiser, M., & Piola, R. (1994b). Learning controller for industrial robots. Technical Report UTO, K.U. Leuven, UKA.
24. Park, Y.K., & Cho, H.S. (1994). A self-learning rule-based control algorithm for chamferless part mating. Control Engng Practice, 2(5), 773-783.
25. Park, H.J., & Cho, H.S. (1993). A fuzzy rule based assembly algorithm for precision parts mating. Mechatronics, 433-450.
26. Park, Y.K., Cho, H.S., & Park, J.O. (1992). A fast searching method for precision parts mating based upon fuzzy logic approach. Proc. IEEE Int. Conf. on Intelligent Robots and Systems (pp. 1319-1323).
27. Romiti, A., Belforte, G., D'Alfio, N., Quagliott, F., & diTorino, P. (1981). A passive assembly device for the speedily assembly of pegs in holes. Assembly Automat., 156-160.
28. Schimemels, J.M., & Peskin, M.A. (1990). Synthesis and validation of non-diagonal accommodation matrices for error-corrective assembly. Pro. IEEE Int. Conf. Robotics and Automation (pp. 714-719).
29. Shahipoor, M., & Zohoor, H. (1991). Analys of dynamic insertion type assembly for manufacturing automation. Proc. 1991 IEEE Int. Conf. on Robotics and Automation (Vol. 3), (pp. 2458-64).
30. Shekhar, S., & Khatib, O. (1987). Force strategies in real time fine motion assembly. Proc. Winter Annual Meeting of ASME 6, pp. 169-176.
31. Simunovic. (1975). Force information in assembly processes. 5th Int. Symp. on Industrial Robots, Chicago.
32. Whitney, D.E. (1982). Quasi-static assembly of compliantly supported rigid parts. J. Dyn. System, Measurement, Control, 104/65.
33. Whitney, D.E., & Nevin, J.L. (1979). What is the RCC and what can it do? Proc. 9th Int. Symp. on Industrial Robot. pp. 135-152. Washington, DC, USA.
34. Yakhimovich, V. A. et al. (1970). Automatic assembly of components by the jet method. Russian Engng J., 50(6), 58-63.