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Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions

Publication ,  Journal Article
Jakovljevic, Z; Petrovic, PB; Milkovic, D; Pajic, M
Published in: Assembly Automation
April 7, 2015

Purpose The purpose of this paper is to provide a method for the generation of information machines for part mating process diagnosis. Recognition of contact states between parts during robotized part mating represents a significant element of the system for active compliant robot motion. All proposed information machines for contact states recognition will recognize one of the possible contact states even when irregular events in the process occur, and the active motion planner will continue to send commands to robot controller according to the planned trajectory. Design/methodology/approach The presented framework is based on the general theory of automata and formal languages. Starting from possible regular contact states transitions in part mating, the authors create an automaton for diagnostics, which, besides regular, accepts all irregular (observable and unobservable) process sequences. Findings Contact states do not appear arbitrarily during regular processes, but in certain context. Theory of automata represents a solid basis for contextual recognition and diagnosis of irregularities in part mating. Research limitations/implications The proposed methodology is elaborated and experimentally verified using an example of cylindrical part mating, and stick-slip effect as an observable irregularity. The future work will address the generation of diagnosers for other types of part mating tasks and extension of the set of observable irregularities. Practical implications The process diagnosis increases the robustness of active compliant motion system. Originality/value Although very important feedback information provider for active motion planner, part mating process monitoring was not frequently addressed in the past. In this paper, the authors propose a methodology for generation of part mating process diagnoser that is based on general automata theory.

Duke Scholars

Published In

Assembly Automation

DOI

ISSN

0144-5154

Publication Date

April 7, 2015

Volume

35

Issue

2

Start / End Page

190 / 199

Related Subject Headings

  • Industrial Engineering & Automation
  • 4007 Control engineering, mechatronics and robotics
  • 0910 Manufacturing Engineering
  • 0906 Electrical and Electronic Engineering
  • 0902 Automotive Engineering
 

Citation

APA
Chicago
ICMJE
MLA
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Jakovljevic, Z., Petrovic, P. B., Milkovic, D., & Pajic, M. (2015). Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions. Assembly Automation, 35(2), 190–199. https://doi.org/10.1108/AA-10-2014-077
Jakovljevic, Z., P. B. Petrovic, D. Milkovic, and M. Pajic. “Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions.” Assembly Automation 35, no. 2 (April 7, 2015): 190–99. https://doi.org/10.1108/AA-10-2014-077.
Jakovljevic Z, Petrovic PB, Milkovic D, Pajic M. Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions. Assembly Automation. 2015 Apr 7;35(2):190–9.
Jakovljevic, Z., et al. “Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions.” Assembly Automation, vol. 35, no. 2, Apr. 2015, pp. 190–99. Scopus, doi:10.1108/AA-10-2014-077.
Jakovljevic Z, Petrovic PB, Milkovic D, Pajic M. Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions. Assembly Automation. 2015 Apr 7;35(2):190–199.
Journal cover image

Published In

Assembly Automation

DOI

ISSN

0144-5154

Publication Date

April 7, 2015

Volume

35

Issue

2

Start / End Page

190 / 199

Related Subject Headings

  • Industrial Engineering & Automation
  • 4007 Control engineering, mechatronics and robotics
  • 0910 Manufacturing Engineering
  • 0906 Electrical and Electronic Engineering
  • 0902 Automotive Engineering