Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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On-line Modeling of Robot Assembly with Uncertainties

불확실한 환경에서의 조립 작업을 위한 온라인 모델링 방법

  • 정성엽 (한국과학기술원 기계공학과) ;
  • 황면중 (한국과학기술원 기계공학과)
  • Published : 2004.10.01
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Abstract

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.

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References

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