Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly

McCarragher, B.J.; Asada, H. Harry

doi:10.1115/1.2899030

Cited by 86 publications

(23 citation statements)

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“…A marked Petri net R is a four-tuple P, T, F, M 0 such that P is a finite, not empty, set of places; T is a finite, not empty, set of transitions; F ⊆ (P × T) ∪ (T × P) is a binary relation, the flow relation of R; M 0 is an initial marking. As for robotic assembly process control, we have adopted the definition of each component of the autonomous Petri nets model developed by McCarragher and Asada [7] as follows: Definition 2.1. A place, p i , is defined as a contact pair (ψ, φ), with the place p 1 defined as the no contact pair.…”

Section: Definition 1 a Synchronized Pn Is A Triple R E Sync Such mentioning

confidence: 99%

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

Zhang

Mao

Yang

2004

Int J Adv Manuf Technol

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In this paper, a new approach to trajectory planning, performance Evaluation, and control for robotic assembly is presented. The assembly process is modeled as a discrete event system using synchronized Petri nets (SynPN). In a SynPN model, transitions are associated with firing conditions depending on external events. Due to this characteristic, SynPN is commonly used to model the connection between system states and external signals. The most important force/moment and position/orientation information in the assembly process serve as external events. Using the external events, the assembly states can be recognized and the system will be directed to the desired end state. Furthermore, trajectory planning algorithms and performance evaluation criteria of a discrete event system are also studied based on SynPN model. Finally, simulation and simple experiments are discussed in which a successful peg-in-hole assembly is fulfilled.

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Section: Definition 1 a Synchronized Pn Is A Triple R E Sync Such mentioning

confidence: 99%

“…McCarragher and Asada [6][7][8] presented the discrete event model using Petri nets (PN). As a task-level controller, this kind of discrete event model highlights transitions rather than assembly states using real-time force/moment signals.…”

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confidence: 99%

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

Zhang

Mao

Yang

2004

Int J Adv Manuf Technol

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“…These domains are used as a preknowledge to resolve a certain contact formation with heuristics during execution [13]. McCarragher and Asada [14] recognized the transitions between different contact states using dynamic template matching. They model the planar assembly process dynamically and extract force profiles for each possible transition that can occur in the process, and then match those to the real time force torque signal.…”

Section: Introductionmentioning

confidence: 99%

Identification of contact formations: Resolving ambiguous force torque information

Hertkorn

Roa

Preusche

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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This paper presents the identification of contact formations using force torque information. As force torque measurements do not map uniquely to their corresponding contact formations, three steps are performed: Initially, the wrench space for each contact formation is computed automatically. Then, a contact formation graph is augmented with a similarity index that reflects the similarity of contact formations with respect to their spanned wrench spaces. A particle filter is used to represent the likeliness of a contact formation given a force torque measurement. Finally, this probability distribution is resolved taking the similarity index, the transitions of the contact formation graph and the history of identified contact formations into account. This allows the recognition of the order of demonstrated contact formations by a measured set of forces and torques. The approach is verified by experiments.

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“…Also, the control system includes a qualitative matching process (McCarragher and Asada, 1993) to monitor the current contact state during assembly. However, similar to the work of Shirnmels and Peshkin's.…”

Section: Introductionmentioning

confidence: 99%

A target-approachable force-guided control with adaptive accommodation for complex assembly

seungsik

Kim

Lee

et al. 1999

KSME International Journal

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In this paper, a target approachable force-guided control with adaptive accommodation for complex assembly is presented. Complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity, or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. The bounded wrench condition can be satisfied by properly designing accommodation parameters, which depends on the tolerable stiffness for an assembly task, not to exceed the prescribed contact wrench. On the other hand. the target approachability condition can be satisfied by determining an admissible twist minimizing the deviation between the current and target twist. By applying convex optimization techniques, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning or contact analysis (which requires the geometry of the part and the environment). To verify the feasibility of the new assembly algorithm, a wench sensor model based on a minimum distance algorithm has been developed and used to estimate contact wrenches in graphic assembly simulation. Finally, a VME bus-based real-time control system is built for experiments on various CA tasks. The T-insertion task as a planar CA, and the double-peg assembly task as a spatial C A, were successfully executed by implementing the new force-guided control with adaptive accommodation.

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Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly

Cited by 86 publications

References 0 publications

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

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

Identification of contact formations: Resolving ambiguous force torque information

A target-approachable force-guided control with adaptive accommodation for complex assembly

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