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Journal of Zhejiang University SCIENCE A 2010 Vol.11 No.12 P.986-991

10.1631/jzus.A1001436


A tree-shaped motion strategy for robustly executing robotic assembly tasks


Author(s):  Yusuke Bota, Hajime Mizuyama, Akio Noda, Tatsuya Nagatani, Ken-ichi Tanaka

Affiliation(s):  Department of Mechanical Engineering and Science, Kyoto University Yoshida-Honmachi, Sakyoku, Kyoto 606-8501, Japan, Advanced Technology R&D Center, Mitsubishi Electric Corporation 8-1-1, Tsukaguchi-Honmachi, Amagasaki, Hyogo 661-8661, Japan

Corresponding email(s):   bota.yusuke@t04.mbox.media.kyoto-u.ac.jp, mizu@me.kyoto-u.ac.jp, noda.akio@dh.mitsubishielectric.co.jp, Nagatani.Tatsuya@aj.mitsubishielectric.co.jp, Tanaka.Kenichi@ah.mitsubishielectric.co.jp

Key Words:  Active compliant motion, Contact states, Motion strategy, Robotic assembly, Task sequence tree


Yusuke Bota, Hajime Mizuyama, Akio Noda, Tatsuya Nagatani, Ken-ichi Tanaka. A tree-shaped motion strategy for robustly executing robotic assembly tasks[J]. Journal of Zhejiang University Science A, 2010, 11(12): 986-991.

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author="Yusuke Bota, Hajime Mizuyama, Akio Noda, Tatsuya Nagatani, Ken-ichi Tanaka",
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DOI - 10.1631/jzus.A1001436


Abstract: 
An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties. To attain this goal, we use a task sequence tree model originally proposed for manual assembly. This model regards an assembly task under uncertainties as a transformation of the contact state concept. The concept may contain several contact states with probabilities but these are transformed through a series of task elements into the contact state concept having only the goal state at the end. The transformed contact state concept can be classified according to the terminal condition of each task element. Thus, the whole assembly task can be designed as a tree-shaped contingent strategy called a task sequence tree. This paper proposes a systematic approach for reconfiguring a task sequence tree model for application to a robotic assembly task. In addition, by taking a 2D peg-in-hole insertion task to be performed by a robot equipped with a force sensor as an example, we confirm that the proposed approach can provide a robust motion strategy for the task and that the robot can actually execute the task robustly under bounded uncertainty according to the strategy.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]Kitagawa, Y., Mizuyama, H., 2008. Modeling and Supporting the Process of Learning Skills for a Manual Assembly Task. Proceedings of 9th APIEMS, Bali, Indonesia, p.1018-1029.

[2]Lefebvre, T., Xiao, J., Bruyninckx, H., Gersem, G.D., 2005. Active compliant motion: a survey. Advanced Robotics, 19:479-499.

[3]Murakami, Y., Mizuyama, H., 2007. Detailed Design of a Manual Assembly Task Incorporating how to Efficiently Handle Uncertainties. Proceedings of the 8th APIEMS, Kaohsung, Taiwan.

[4]Siciliano, B., Khatib, O., 2008. Springer Handbook of Robotics. Springer-Verlag, Berlin Heidelberg.

[5]Whitney, D.E., 1982. Quasi-static assembly of compliantly supported rigid parts. Journal of Dynamic Systems, Measurement and Control, 104:65-77.

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