A new robotic assembly modeling and trajectory planning method using synchronized Petri nets

Zhang, Weijun; Mao, Taixiang; Yang, Rui

doi:10.1007/s00170-003-1995-1

Cited by 9 publications

(7 citation statements)

References 8 publications

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“…A good feature of this detection method is that it is well suited for a real-time implementation. Since the sample size n and the desired probability p are the same for all samples during execution, the constant c in (13) can be calculated in advance using (14). Furthermore, µ and Σ are calculated offline using training data.…”

Section: Transient Detectionmentioning

confidence: 99%

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Force controlled assembly of emergency stop button

Stolt

Linderoth

Robertsson

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Modern industrial robots are fast and have very good repetitional accuracy, which have made them indispensable in many manufacturing applications. However, they are usually programmed to follow desired trajectories and only get feedback from position sensors. This works fine as long as the environment is very well structured, but does not give good robustness to objects not being positioned or gripped accurately. A solution is to use additional sensing, such as force sensors and vision. How to combine the data from the different sensors and use it in a good way to control the robot is still an area of research. This paper describes an assembly scenario where a switch should be snapped into place in a box. Force sensing is used to resolve the uncertain position of the parts and detect the snap at the end of the operation. During the assembly an uncertain distance is estimated to improve the performance. By performing the assembly several times, learning is used to generate feed-forward data, which is used to speed up the assembly.

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Section: Transient Detectionmentioning

confidence: 99%

“…An example from the automotive industry is [6], which describes powertrain assembly. In [14] synchronized Petri nets are used to model the assembly process and an experimental evaluation is made with a peg-in-hole assembly. An example of assembly from the construction industry where position control is used is described in [5].…”

Section: Introductionmentioning

confidence: 99%

Force controlled assembly of emergency stop button

Stolt

Linderoth

Robertsson

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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show abstract

“…Yao and Cheng [7] derived the geometrical compatibility condition for the insertion motion where mating force/moment was free of overshooting, and the non-cylinder pairs mating were achieved by the aid of force sensors. Zhang et al [8] modeled the peg-in-hole process as a discrete event system, where the assembly states were recognized with the force information. Tangjitsitcharoen et al [9] used the torque sensor to control the position of the shaft during the assembly by setting the limit of torque to stop the motor driver of machine.…”

Section: Robotic Assembly With Force Sensormentioning

confidence: 99%

A new insertion strategy for a peg in an unfixed hole of the piston rod assembly

Qiao

2011

Int J Adv Manuf Technol

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Sensorless manipulation strategies have been successfully used in the precision robotic assembly. Most previous work in this area has concentrated on inserting a peg into a fixed hole. However, in some cases, e.g., the assembly of piston-peg-rod of the automotive engine, due to the motion of piston, the position of the hole in piston is hard to be fully constrained. The purpose of this paper is to give a novel sensorless manipulation strategy for the high-precision assembly of a peg into an unfixed hole. Firstly, a decomposition method of the high-dimensional configuration space of the peg hole is analyzed. Subsequently, the robotic manipulations are proposed in the two low-dimensional spaces decomposed from the high-dimensional configuration space. Then, the attractive regions formed in the two sub-spaces are constructed, thus, the position and orientation uncertainties of the peg hole can be eliminated by the attractive regions and the robotic manipulations. Finally, a typical industry application, fitting a peg into an unfixed piston rod hole of the automotive engine, is used to validate the presented strategy.

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“…An example from the automotive industry is [9], which describes powertrain assembly. In [19] synchronized Petri nets were used to model the assembly process and an experimental evaluation was made with a peg-in-hole assembly.…”

Section: Introductionmentioning

confidence: 99%

Force controlled robotic assembly without a force sensor

Stolt

Linderoth

Robertsson

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.

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A new robotic assembly modeling and trajectory planning method using synchronized Petri nets

Cited by 9 publications

References 8 publications

Force controlled assembly of emergency stop button

Force controlled assembly of emergency stop button

A new insertion strategy for a peg in an unfixed hole of the piston rod assembly

Force controlled robotic assembly without a force sensor

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