Detection of Contact Force Transients in Robotic Assembly
(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:
https://lup.lub.lu.se/record/5434006
- author
- Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2015 IEEE International Conference on Robotics and Automation
- series title
- 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
- conference location
- Seattle, WA, United States
- conference dates
- 2015-05-26 - 2015-05-30
- external identifiers
-
- scopus:84938240639
- ISSN
- 1050-4729
- ISBN
- 978-1-4799-6923-4
- 978-1-4799-6924-1
- DOI
- 10.1109/ICRA.2015.7139293
- project
- ROSETTA
- RobotLab LTH
- language
- English
- LU publication?
- yes
- additional info
- key=stoltICRA15b month=may
- id
- 282305f4-4ede-4db9-8555-d9c857966069 (old id 5434006)
- date added to LUP
- 2016-04-04 13:36:16
- date last changed
- 2024-10-14 00:29:54
@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 = {{2015 IEEE International Conference on Robotics and Automation}}, isbn = {{978-1-4799-6923-4}}, issn = {{1050-4729}}, language = {{eng}}, pages = {{962--968}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, series = {{IEEE Xplore Digital Library}}, title = {{Detection of Contact Force Transients in Robotic Assembly}}, url = {{https://lup.lub.lu.se/search/files/21677539/5434007.pdf}}, doi = {{10.1109/ICRA.2015.7139293}}, year = {{2015}}, }