Best Practices and Performance Metrics Using Force Control for Robotic Assembly

Marvel, Jeremy A.; Falco, Joseph A.

doi:10.6028/nist.ir.7901

Cited by 22 publications

(21 citation statements)

References 36 publications

(35 reference statements)

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“…In a previous report by Marvel and Falco (2012), we provided a high-level overview of a number of these primitives, including peg-in-hole assemblies (e.g., Chhatpar and Branicky (2001)), gear meshing strategies, and snap fits. In this section, we provide sample algorithms for performing assembly search strategies in terms of moving the robots or their tooling in Cartesian space.…”

Section: Assembly Types and Search Strategiesmentioning

confidence: 99%

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Multi-Robot Assembly Strategies and Metrics

2018

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We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

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Section: Assembly Types and Search Strategiesmentioning

confidence: 99%

“…Although sometimes considered primitives for force-based control (Marvel and Falco 2012), surface and contour matching are also integral for assembly (Shi and Menassa 2010). Surface and contour matching refer to the processes of aligning and pressing components along flat or curved surfaces, respectively.…”

Section: Assembly Types and Search Strategiesmentioning

confidence: 99%

Multi-Robot Assembly Strategies and Metrics

2018

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“…New advances in force control, machine vision, and robot dexterity are enabling industrial robots to catch up with the original visions of robotic assembly [7]. As these technologies progress, performance metrics and associated test methodologies are needed to unify research efforts, characterize the state of technology, and provide a means for end-users to evaluate the capabilities of robotic assembly systems.…”

Section: Robot Arm Manipulationmentioning

confidence: 99%

“…• Metrics, artifacts and test methods for evaluating the force control characteristics as well as the performance of robotic assembly operations utilizing [7] as a basis for this work. Work may also include functionality testing to accomplish integrated tasks such as the use tools for fastening or drilling.…”

Section: Short-term (1-3 Year) Impact Areasmentioning

confidence: 99%

A roadmap to progress measurement science in robot dexterity and manipulation

Falco¹,

Marvel²,

Messina³

2014

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“…The application of force control is essentially one of relating measured forces to one or more system variables in the form of a mass-spring damper for tuning and stability. There exists a wide variety of compliant motion control algorithms relating measured force to virtually any combination of position, velocity, acceleration, and applied force [5,6]. The industrial world has been slow to adopt forcebased practices in automating assembly tasks [7].…”

Section: Introductionmentioning

confidence: 99%

Genetic Re-planning Strategy of Wormhole Model using Neural Learned Vibration Behavior in Robotic Assembly

Banjanović-Mehmedović

Mehmedović²,

Bosankic³

et al. 2013

Automatika

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Original scientific paperThis paper investigates the genetic based re-planning search strategy, using neural learned vibration behavior for achieving tolerance compensation of uncertainties in robotic assembly. The vibration behavior was created from complex robot assembly of cogged tube over multistage planetary speed. Complex extensive experimental investigations were conducted for the purpose of finding the optimum vibration solution for each planetary stage reducer in order to complete the assembly process in defined real-time. However, tuning those parameters through experimental discovering for improved performance is a time consuming process. Neural network based learning was used to generate wider scope of parameters in order to improve the robot behavior during each state of the assembly process. As a novel modelling formalism of reactive hybrid automata, we propose the Wormhole Model with both learning and re-planning capacities (WOMOLERE). For our application, the states of hybrid automaton include amplitudes and frequencies of robot vibration module. The transition action is a function of minimal distance and uncertainty effects due to jamming during the assembly process. The results suggest that the methodology is adequate and could be recognized as an idea for designing of robot surgery assistance methods, especially in soft-robotics. Genetski bazirana strategija re-planiranja modela crvotočine korištenjem neuronski naučenog vibracijskog ponašanja u robotskoj montaži. Ovajčlanak prezentira strategiju re-planiranja kretanja, baziranu na genetskom algoritmu, korištenjem neuronski naučenog vibracijskog ponašanja u cilju postizanja kompenzacije tolerancije neizvjesnosti u procesu robotske montaže. Vibracijsko ponašanje je kreirano iz kompleksne robotske montaže nazubljene cjevčice preko višestupanjskog planetarnog reduktora brzine motora. Provedeni su brojni eksperimenti s ciljem odreîivanja optimalnih amplituda i frekvencija vibracijskog modula robota za svaki stupanj reduktora s ciljem završetka procesa montaže u definiranom realnom vremenu. Meîutim, podešavanje ovih parametara kroz eksperimente u cilju unaprjeîenja perfomansi je vremenski zahtjevan proces. Učenje bazirano na neuronskim mrežama je korišteno za generiranje šireg opsega parametara stanja modela u cilju unaprjeîenja robotskog ponašanja tijekom svake faze procesa montiranja. Kao novi formalizam modeliranja reaktivnog hibridnog automata, predložili smo model crvotočine, sa sposobnostima i učenja i re-planiranja (WOMOLERE). Za našu aplikaciju, stanja hibridnog automata sadrže amplitude i frekvencije robotskog vibracijskog modula. Akcija tranzicije je funkcija minimalne distance i učinaka neizvjesnosti uslijed zaglavljenja pri procesu montiranja. Rezultati pokazuju da je metodologija prikladna i kao ideja se može koristiti u dizajniranju metoda robotske asistencije pri operacijama, osobito u soft robotici.

show abstract

Best Practices and Performance Metrics Using Force Control for Robotic Assembly

Cited by 22 publications

References 36 publications

Multi-Robot Assembly Strategies and Metrics

Multi-Robot Assembly Strategies and Metrics

A roadmap to progress measurement science in robot dexterity and manipulation

Genetic Re-planning Strategy of Wormhole Model using Neural Learned Vibration Behavior in Robotic Assembly

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