Discrete event systems approach to fixtureless peg-in-hole assembly

Author

Chung, Seong-Youb ; Doo Yong, Lee.

Author_Institution

Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

6

fYear

2001

fDate

2001

Firstpage

4962

Abstract

Assembly tasks are normally performed with one robot and fixtures. Fixtures reduce the flexibility of the system and increase the cost of assembly. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are described by extended contact relations. Qualitative models for event evolution are easily derived from the marking of the Petri net model. The states are recognized through identification of the events using two 6-DOF force and moment sensors. The proposed method is verified and evaluated through experiments with round peg-in-hole assembly

Keywords

Petri nets; assembly planning; discrete event systems; feedback; force control; industrial robots; production control; Petri net model; cooperative control; discrete event system; force feedback; industrial robots; peg-in-hole assembly; two-arm robot system; Assembly systems; Control systems; Discrete event systems; Fixtures; Force feedback; Force sensors; Manipulators; Robot sensing systems; Robotic assembly; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945771

Filename

945771