On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 2313-2318

  Dietrich, Franz ^a   Buchholz, Dirk ^a   Wobbe, Frank ^a   Sowinski, Frank ^a   Raatz, Annika ^a   Schumacher, Walter ^a   Wahl, Friedrich M ^a  

^a TECHNICAL UNIVERSITY OF BRAUNSCHWEIG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ASSEMBLY PROCESS; ASSEMBLY TASKS; COMPLEX PARTS; CONTACT MODELS; DISCRETE POINTS; EXPERIMENTAL INVESTIGATIONS; FORCES AND TORQUES; INITIAL POSITION; INJECTIVITY; PEG-IN-HOLE; POSITION ERRORS; TORQUE VECTORS;

ASSEMBLY; END EFFECTORS; TORQUE;

INTELLIGENT ROBOTS;

EID: 78651518519     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5652704     Document Type: Conference Paper

References (22)

1. A. Jaura, N. Krouglicof, and M. O. M. Osman, "Using a logic branching weighted algorithm to train robots for splined shaft-hole assembly," IEEE Trans. on Systems, Man and Cybernetics, Part A: Systems and Humans, vol. 29, no. 3, pp. 277-283, May 1999.
2. G. Milighetti and H.-B. Kuntze, "On the discrete-continuous control of basic skills for humanoid robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 3474-3479.
3. J.-P. Merlet, Parallel Robots. Boston: Kluwer Academic Publishers, 2000.
4. M. T. Mason, "Compliance and force control for computer controlled manipulators," IEEE Trans. on Systems, Man and Cybernetics, pp. 418-432, 1981.
5. J. H. Maaß, "Steuerungstechnik für parallelkinematische Roboter," Ph.D. dissertation, Fakultät Maschinenbau, TU Braunschweig, Vulkan Verlag, 2009, in German.
6. S. Molkenstruck, U. Thomas, and F. Wahl, "Advances in automated robot programming," in 3rd International Colloquium of the Collaborative Research Center 562 Braunschweig, 2008, pp. 85-100.
7. C. Laugier, "Planning fine motion strategies by reasoning in the contact space," in IEEE International Conference on Robotics and Automation, 1989, pp. 653-659.
8. B. J. McCarragher and H. Asada, "The discrete event control of robotic assembly tasks," in IEEE Conference on Decision and Control, 1992, pp. 1406-1407 vol.2.
9. T. Mouri, T. Yamada, Y. Funahashi, and N. Mimura, "Identification of contact conditions from contaminated data of contact moment," in IEEE International Conference on Robotics and Automation, vol. 1, 1999, pp. 585-591 vol.1.
10. W. Meeusen, J. D. Schutter, H. Bruyninchx, J. Xiao, and E. Stafetti, "Integration of motion planning and execution in force controlled compliant motion," in IEEE/RSJ International Conference on Intelligent Robotic Systems, 2005, pp. 2550-2555.
11. U. Thomas, "Automatisierte Programmierung von Robotern für Montageaufgaben," Ph.D. dissertation, TU Braunschweig, 2008, in German.
12. K. Hara and R. Yokogawa, "Precision insertion by heuristic search with fuzzy pattern matching," JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry, vol. 35, no. 2, pp. 201-206, 1992. [Online]. Available: http://ci.nii.ac.jp/naid/110002502325/en/
13. N. Mimura and Y. Funahashi, "Parameter identification of contact conditions by active force sensing," in IEEE International Conference on Robotics and Automation, May 1994, pp. 2645-2650 vol.3.
14. T. Levebvre, "Contact modelling, parameter identification and task planning for autonomous compliant motion using elementary contacts," Ph.D. dissertation, Katholieke Universiteit Leuven, 2003.
15. H. Bruyninckx, S. Dutre, and J. De Schutter, "Peg-on-hole: a model based solution to peg and hole alignment," in IEEE International Conference on Robotics and Automation, vol. 2, May 1995, pp. 1919-1924.
16. W. Newman, Y. Zhao, and Y.-H. Pao, "Interpretation of force and moment signals for compliant peg-in-hole assembly," in IEEE International Conference on Robotics and Automation, vol. 1, 2001, pp. 571-576.
17. T. Levebvre, H. Bruyninchx, and J. D. Schutter, "Polyhedral contact formation and identification for autonomous compliant motion: Exact nonlinear bayesian filtering," in IEEE Transactions on Robotics, vol. 1, no. 21, 2005, pp. 124-130.
18. S. Lee and H. Asada, "A perturbation/correlation method for force guided robot assembly," Robotics and Automation, IEEE Transactions on, vol. 15, no. 4, pp. 764-773, Aug 1999.
19. S. Ipri and H. Asada, "Tuned dither for friction suppression during force-guided robotic assembly," in IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, Aug 1995, pp. 310-315.
20. U. Thomas, S. Molkenstruck, R. Iser, and F. M. Wahl, "Multi sensor fusion in robot assembly using particle filters," in IEEE International Conference on Robotics and Automation, 2007, pp. 3837-3843.
21. F. Dietrich, F. Wobbe, D. Buchholz, F. Sowinski, A. Raatz, W. Schumacher, and F. M. Wahl, "Enhancements of Force-Torque Map Based Assembly Applied to Parallel Robots," in IEEE International Conference on Industrial Technology, 2010.
22. K. Godfrey, "The application of pseudo-random sequences to industrial processes and nuclear power plant," in Preprints 2nd Prague IFAC Symp. Identification and Process Parameter Estimation. Academia, 1970, p. 7.1.