Advanced SearchSearch Tips
Control of a Two-Arm Robot System for Assembly in Highy Uncertain Environment
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Control of a Two-Arm Robot System for Assembly in Highy Uncertain Environment
Jeong, Seong-Yeop; Gang, Gyeong-Dae; Lee, Du-Yong;
  PDF(new window)
Assembly tasks are often performed by one robot with fixtures. This type of assembly system has low flexibility in terms of the variety of parts and the part-presentation the system can handle. 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 defined as status having unique motion constraints and events are modeled as variation of the environmental force. The states are recognized through identification of the events using two 6-d. o. f. force/moment sensors. The proposed method is verified and evaluated by experiments with round peg-in-hole assembly.
Robotics;Assembly;Fixtureless Assembly;Discrete Event System;Cooperative Control;
 Cited by
Bonitz, R. G. and Hsia, T. C., 1996, 'Internal Force-Based Impedance Control for Cooperating Manipulators,' IEEE Trans. on Robotics and Automation, Vol. 12, pp. 78-89 crossref(new window)

Jarrah, O. A., Zheng, Y. F., and Yi, K. Y., 1995, 'Efficient Trajectory Planning for Two Manipulators to Deform Flexible Materials with Experments,' Proc. IEEE Int. Conf. on Robotics and Automation, pp. 312-317 crossref(new window)

Caccavale, F., Natale, C., Siciliano, B., and Villani, L., 1998, 'Control of Two Industrial Robots for Parts Mating,' IEEE Int. Conf. on Control Applications, pp. 562-566 crossref(new window)

Sakakibara, S., 1996, 'A Two-Amed Intelligent Robot Assembles Mini Robots Automatically,' Proc. IEEE Inf. Conf. on Industrial Electronics, Control, and Instrumentation, pp. 1879-1883 crossref(new window)

Trong, D. N., Betemps, M., and Jutard, A., 1995, 'Analysis of Dynamic Assembly using Passive Compliance,' IEEE Int. Conf. on Robotics and Automation, pp. 1997-2002 crossref(new window)

McCarragher, B. J., 1997, 'Adaptive Discrete Event Control for Assembly;Theory and Industrial Implementation,' Int. Journal of Robotics and Autonomou Systems, Vol. 21, pp. 323-339 crossref(new window)

Haskiya, V., Qiao, H., and Knight, J. A. G., 1997, 'A New Strategy For Chamferless Peg-Hole Assembly,' IEEE Int. Sym. on Assembly and Task Planning, pp. 90-95 crossref(new window)

Kim, I. W., Lim, D. J., and Kim. K. I., 1999, 'Active Peg-in-hole of Chamferless Parts using Force/Moment Sensor,' Proc. IEEE Int. Conf. on Intelligent Robots and Systems, pp. 948-953 crossref(new window)

Desai, R. S. and Volz, R. A., 1989, 'Identification and Verification of Sensor Errors and Geometric Uncertainties,' Proc. IEEE Int. Conf. on Robotics and Automation, pp. 800-809 crossref(new window)

Mosemann, H., Raue, A., and Wahl, F., 1998, 'Classification and Recognition of Contact States for Force Guided Assembly,' Proc. IEEE Int. Conf. on System, Man and Cybernetics, pp. 3400-3405 crossref(new window)

Hovland, G. E. and McCarragher, B. J., 1997, 'Combining Force and Position Measurements for the monitoring of Robotic Assembly,' Proc. IEEE Int. Conf. on Intelligent Robots and System, pp. 654-660 crossref(new window)

McCarragher, B. J. and Asada, H., 1993, 'Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly,' ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115(2A), pp. 261-275