Active/Dynamic Assembly Process Control Using Dither and Learning Techniques

小行星9318888 本研究将探索一种新的方法，机器人装配，通过使用主动和自适应操作技术。代替简单地从过程接收传感器信息并产生作为传感器信号的函数的控制信号，通过主动摇动末端执行器并扰动控制命令来采取积极的控制动作，以便减少摩擦，更好地观察过程，微调控制参数，并寻求更好的控制规律。 具体的研究问题包括：如何调整抖动的频率和幅度，以优化抑制摩擦，如何监测装配过程中采取的相关性施加抖动和合力测量，以及如何改善装配操作，通过渐进式学习。

9318888 Asada This research will explore a new methodology for robotic assembly by using active and adaptive manipulation techniques. Instead of simply receiving sensor information from the process and generating control signals as functions of sensor signals, positive control actions are taken by actively shaking the end effector and perturbing the control commands in order to reduce friction, better observe the process, fine tune the control parameters, and seek a better control law. Specific research issues include; how to tune the dither frequency and amplitude to optimize the suppression of friction, how to monitor the assembly process by taking the correlation between the imposed dither and the resultant force measurement, and how to improve the assembly operation through progressive learning.