{"title":"Combining force and position measurements for the monitoring of robotic assembly","authors":"G. Hovland, B. McCarragher","doi":"10.1109/IROS.1997.655081","DOIUrl":null,"url":null,"abstract":"A method for combining dynamic force and static position measurements for the monitoring of assembly is presented. A multilayer perceptron (MLP) network is used as a classifier where the individual network outputs correspond to contact state transitions occuring during the assembly process. When a contact state transition occurs, the MLP output with the largest value is chosen. The recognised contact state is sent to a discrete event controller which guides the workpiece through a series of contact states to the final desired configuration. The MLP has been successfully implemented on a Motorola 68040 based VxWorks board with successful recognition rates of 94.4% and 92.0% on a training set and an independent test set, respectively.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"24","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1997.655081","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 24
Abstract
A method for combining dynamic force and static position measurements for the monitoring of assembly is presented. A multilayer perceptron (MLP) network is used as a classifier where the individual network outputs correspond to contact state transitions occuring during the assembly process. When a contact state transition occurs, the MLP output with the largest value is chosen. The recognised contact state is sent to a discrete event controller which guides the workpiece through a series of contact states to the final desired configuration. The MLP has been successfully implemented on a Motorola 68040 based VxWorks board with successful recognition rates of 94.4% and 92.0% on a training set and an independent test set, respectively.