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Detection of Contact Force Transients in Robotic Assembly

Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU and Johansson, Rolf LU (2015) IEEE International Conference on Robotics and Automation, 2015 In IEEE Xplore Digital Library p.962-968
Abstract
A robotic assembly task is usually implemented as a sequence of simple motions, and the transitions between the motions are made when some events occur. These events can usually be detected with thresholds on some signal, but faster response is possible by detecting the transient on that signal. This paper considers the problem of detecting these transients. A force-controlled assembly task is used as an experimental case, and transients in measured force/torque data are considered. A systematic approach to train machine-learning based classifiers is presented. The classifiers are further implemented in the assembly task, resulting in a 15 % reduction of the total assembly time.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
IEEE Xplore Digital Library
pages
7 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2015
external identifiers
  • Scopus:84938240639
ISSN
1050-4729
ISBN
978-1-4799-6924-1
DOI
10.1109/ICRA.2015.7139293
language
English
LU publication?
yes
id
282305f4-4ede-4db9-8555-d9c857966069 (old id 5434006)
date added to LUP
2015-06-01 09:21:34
date last changed
2017-02-26 04:45:49
@inproceedings{282305f4-4ede-4db9-8555-d9c857966069,
  abstract     = {A robotic assembly task is usually implemented as a sequence of simple motions, and the transitions between the motions are made when some events occur. These events can usually be detected with thresholds on some signal, but faster response is possible by detecting the transient on that signal. This paper considers the problem of detecting these transients. A force-controlled assembly task is used as an experimental case, and transients in measured force/torque data are considered. A systematic approach to train machine-learning based classifiers is presented. The classifiers are further implemented in the assembly task, resulting in a 15 % reduction of the total assembly time.},
  author       = {Stolt, Andreas and Linderoth, Magnus and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {IEEE Xplore Digital Library},
  isbn         = {978-1-4799-6924-1},
  issn         = {1050-4729},
  language     = {eng},
  pages        = {962--968},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Detection of Contact Force Transients in Robotic Assembly},
  url          = {http://dx.doi.org/10.1109/ICRA.2015.7139293},
  year         = {2015},
}