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Detection of Contact Force Transients in Robotic Assembly

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Author

Summary, in English

A robotic assembly task is usually implemented as a sequence of simple motions, and the transitions between the motions are made when some events occur. These events can usually be detected with thresholds on some signal, but faster response is possible by detecting the transient on that signal. This paper considers the problem of detecting these transients. A force-controlled assembly task is used as an experimental case, and transients in measured force/torque data are considered. A systematic approach to train machine-learning based classifiers is presented. The classifiers are further implemented in the assembly task, resulting in a 15 % reduction of the total assembly time.

Publishing year

2015

Language

English

Pages

962-968

Publication/Series

IEEE Xplore Digital Library

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Conference name

IEEE International Conference on Robotics and Automation, 2015

Conference date

2015-05-26 - 2015-05-30

Conference place

Seattle, WA, United States

Status

Published

Project

  • ROSETTA
  • RobotLab LTH

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1050-4729
  • ISBN: 978-1-4799-6923-4
  • ISBN: 978-1-4799-6924-1