불확실한 환경에서의 조립 작업을 위한 온라인 모델링 방법On-line Modeling of Robot Assembly with Uncertainties

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Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This paper proposes an augmented Petri net and an algorithm to adapt the assembly model on-line during actual assembly process. The augmented Petri net identifies events using force and position information simultaneously. Unmodeled contact states are identified and incorporated into the model on-line. The proposed method increases the level of intelligence of the robot system by enhancing the autonomy. The proposed method is evaluated by simulation and experiments with L-type peg-in-hole assembly using a two-arm robot system.
Publisher
제어·로봇·시스템학회
Issue Date
2004-10
Language
Korean
Citation

제어.로봇.시스템학회 논문지, v.10, no.10, pp.878 - 886

ISSN
1976-5622
URI
http://hdl.handle.net/10203/78938
Appears in Collection
ME-Journal Papers(저널논문)
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