Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly
Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly
复制标题
使用动态过程模型进行定性模板匹配，用于机器人装配的状态转换识别
DOI：
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发表时间：
1993
期刊：
影响因子：
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通讯作者：
H. Asada
中科院分区：
文献类型：
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作者：
B. McCarragher;H. Asada
提出了一种基于模型的机器人装配离散状态转移识别方法。参考装配过程的物理模型来解释传感器信号，特别是力和力矩，以便实时识别装配状态。装配是一个动态的、几何的过程。在这里，基于模型的方法被应用于装配过程中由几何交互产生的动力学的独特问题。首先，提出了一种新的装配过程建模方法。与传统的准静态处理装配不同，新方法结合了过程的动态性质，以突出状态的离散变化，例如，接触的获得和损失
This paper presents a model-based approach to the recognition of discrete state transitions for robotic assembly. Sensor signals, in particular, force and moment, are interpreted with reference to the physical model of an assembly process in order to recognize the state of assembly in real time. Assembly is a dynamic as well as a geometric process. Here, the model-based approach is applied to the unique problems of the dynamics generated by geometric interactions in an assembly process. First, a new method for the modeling of the assembly process is presented. In contrast to the traditional quasi-static treatment of assembly, the new method incorporates the dynamic nature of the process to highlight the discrete changes of state, e.g., gain and loss of contact