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Proceedings Paper

A Fuzzy Approach To The Interpretation Of Robot Assembly Forces
Author(s): Deepak Sood; Michael C. Repko; Michael C. Moed; Robert B. Kelley
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Paper Abstract

Uncertainties encountered in part positioning and variations in part dimensions have motivated the use of sensor feedback control in robot assembly. This paper presents a fuzzy logic based system which interprets the forces and torques generated by a force/torque sensor mounted on a robotic wrist, and controls the execution of robotic assembly tasks. Techniques from the field of fuzzy decision making are applied to the force/torque feedback to monitor the mating of parts by a robot. An example is presented that addresses the problems of inserting a printed circuit board into a card cage. The fuzzy rules that are used to interpret the force/torque readings are discussed and the experimental results are presented.

Paper Details

Date Published: 27 March 1989
PDF: 8 pages
Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960303
Show Author Affiliations
Deepak Sood, Rensselaer Polytechnic Institute (United States)
Michael C. Repko, Rensselaer Polytechnic Institute (United States)
Michael C. Moed, Rensselaer Polytechnic Institute (United States)
Robert B. Kelley, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1002:
Intelligent Robots and Computer Vision VII
David P. Casasent, Editor(s)

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