Webbläsaren som du använder stöds inte av denna webbplats. Alla versioner av Internet Explorer stöds inte längre, av oss eller Microsoft (läs mer här: * https://www.microsoft.com/en-us/microsoft-365/windows/end-of-ie-support).

Var god och använd en modern webbläsare för att ta del av denna webbplats, som t.ex. nyaste versioner av Edge, Chrome, Firefox eller Safari osv.

Detection of Contact Force Transients in Robotic Assembly

In English

Författare

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.

Publiceringsår

2015

Språk

Engelska

Sidor

962-968

Publikation/Tidskrift/Serie

IEEE Xplore Digital Library

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • 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

Projekt

  • ROSETTA
  • RobotLab LTH

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

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