Force-Controlled Robotic Assembly Processes of Rigid and Flexible Objects
This book provides comprehensive and integrated approaches for rigid and flexible object assembly. It presents comparison studies with the available force-guided robotic processes and covers contact-state modeling, scheme control strategies, and position
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orce-Controlled Robotic Assembly Processes of Rigid and Flexible Objects Methodologies and Applications
Force-Controlled Robotic Assembly Processes of Rigid and Flexible Objects
Ibrahim Fahad Jasim Ghalyan
Force-Controlled Robotic Assembly Processes of Rigid and Flexible Objects Methodologies and Applications
123
Ibrahim Fahad Jasim Ghalyan Faculty of Science, Technology and Communication University of Luxembourg Luxembourg Luxembourg
ISBN 978-3-319-39184-7 DOI 10.1007/978-3-319-39185-4
ISBN 978-3-319-39185-4
(eBook)
Library of Congress Control Number: 2016939369 © Springer International Publishing Switzerland 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG Switzerland
To the memory of the one… Who dedicated his life to our happiness… Who overwhelmed us with his warmth, love, and tenderness… Who did not hesitate in fulling our time with content and cheeriness… To the memory of my father with love and respect…
Preface
The idea of this book emanates from my Ph.D. thesis that I, wrote at the University of Luxembourg, defended in January 2016. The book addresses one of the vital robotic applications in industry, the assembly processes. In this book force-guided (or force-controlled) robots are considered and the required skills in realizing the force-guided robotic assembly processes are studied. More precisely, this book covers developing novel Contact-State (CS) modeling, control strategy, and environment position localization (position searching) for force-guided robotic assembly processes of rigid and flexible objects. For the CS modeling, the wrench (Cartesian force and torque) signals of the manipulated object are captured for different phases of the considered assembly processes and using the Expectation Maximization-based Gaussian Mixtures Model (EM-GMM), a recognizer is developed for each CS of the assembly. The
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