Fuzzy Logical Expression of the Signals From the Force Sensor in Robotic Peg-Hole Insertion Operation

CASIA OpenIR > 09年以前成果

	Fuzzy Logical Expression of the Signals From the Force Sensor in Robotic Peg-Hole Insertion Operation
	Qiao, H; Dalay, B.S; Parkin, R
	1995
会议名称	Proceedings of 4th International Symposium on Measurement and Control in Robotics
会议录名称	ISMCR '95. Proceedings of the Fourth International Symposium on Measurement and Control in Robotics
会议日期	12-16 June 1995
会议地点	Smolenice Castle, Slovakia
摘要	The peg-hole insertion operation, which is a simplified industrial application model, has special prominence. In terms of the hardware, various complex six-component force sensors, passive compliance and vibration systems have been designed to address the problems of robot motion uncertainty. In this paper, (a) It was found that the contact configuration can not be identified through the signals from the force sensors alone leaving robotic insertion a difficult operation and, (b) Various strategies with and without force sensors were proposed. Pre-image and back-projection concepts were employed to aid these investigations. These strategies have been verified through experimental trials.
关键词	无
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12856
专题	09年以前成果
通讯作者	Qiao, H
作者单位	Dalay, B.S
推荐引用方式 GB/T 7714	Qiao, H,Dalay, B.S,Parkin, R. Fuzzy Logical Expression of the Signals From the Force Sensor in Robotic Peg-Hole Insertion Operation[C],1995.