Title :
A self-learning automaton with variable resolution for high precision assembly by industrial robots
Author :
Simons, J. ; Brussel, H. ; De Schutter, J. ; Verhaert, J.
Author_Institution :
Belgian National Fund for Scientific Research, Brussels, Belgium
fDate :
10/1/1982 12:00:00 AM
Abstract :
This paper reports on the use of the stochastic automaton theory to configure control algorithms for high precision assembly operations performed with a force-sensing robot. The basic principle of the stochastic automation, i.e., its variable structure, has been extended to the dimensionality of the automaton by gradually optimizing the resolution of the input variables.
Keywords :
Manipulators; Stochastic automata; Automatic control; Force control; Industrial control; Input variables; Learning automata; Quantization; Robotic assembly; Robotics and automation; Service robots; Stochastic processes;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1982.1103060
