Discrete event systems approach to fixtureless peg-in-hole assembly

被引：0

作者：

Chung, SY ^{[1
]}

Lee, DY ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea

来源：

PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2001年

关键词：

robotics; assembly; discrete event system; Petri net; cooperative control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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-d.o.f. force and moment sensors. The proposed method is verified and evaluated through experiments with round peg-in-hole assembly.

引用

页码：4962 / 4967

页数：6

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