Force-Controlled Robotic Assembly Processes of Rigid and Flexible Objects (eBook)

Preface 6
Contents 11
Acronyms 14
Symbols 16
1 Introduction 19
1.1 Overview 19
1.1.1 Related Works on Contact-State (CS) Modeling 20
1.1.2 Related Works on Robots Control 23
1.1.3 Related Works on Peg-in-Hole Searching Algorithms 25
1.2 Problem Description and Objectives 26
2 Contact-State (CS) Modeling 30
2.1 Problem Statement 30
2.2 Gravitational Search--Fuzzy Clustering Algorithm (GS--FCA) 32
2.2.1 T--S Fuzzy Modeling 33
2.2.2 T--S Fuzzy Models Parameters Estimation 34
2.2.3 Antecedent Part Parameters Estimation 34
2.2.4 Consequent Part Parameters 37
2.3 Expectation Maximization-Based Gaussian Mixtures Model (EM-GMM) 38
2.3.1 Bayesian Classification 39
2.3.2 Gaussian Mixtures Model (GMM) 40
2.3.3 Expectation Maximization (EM) 41
3 Control of Unknown Switched Constraints Robots 45
3.1 Problem Formulation 45
3.2 Adaptive Sliding Mode Control (ASMC) Strategy 46
3.3 Improved Robust Adaptive Control (IRAC) Strategy 49
3.3.1 Robust Control (RC) Strategy 50
3.3.2 Robust Adaptive Control (RAC) Strategy 51
3.3.3 Improved Robust Adaptive Control Strategy (IRAC) Strategy 52
3.4 Robust Adaptive Fuzzy Control (RAFC) Strategy 54
3.4.1 Fuzzy Logic Approximators (FLA) 54
3.4.2 Robust Adaptive Fuzzy Control (RAFC) Design 55
3.5 Robot Control Decentralization 57
3.5.1 Problem Reformulation 57
3.5.2 Decentralized Robust Control (DRC) Design 59
3.5.3 Decentralized Robust Adaptive Control (DRAC) Design 60
3.5.4 Enhanced Decentralized Robust Adaptive Control (EDRAC) Design 61
3.5.5 Decentralized Robust Adaptive Fuzzy Control (DRAFC) Design 63
3.5.6 Object Flexibility Accommodation 65
3.5.7 Hybrid Position/Force Control 66
4 Position Uncertainty Accommodation 69
4.1 Problem Description 69
4.2 Hole Position Identification 69
4.2.1 The Spiral Search Path 70
4.2.2 The Proposed Position Identification Algorithm 73
5 Experimental Validations 81
5.1 Contact-State Modeling 81
5.1.1 Experiment 1: Rigid Cube-in-Corner Assembly 82
5.1.2 Experiment 2: Rigid Peg-in-Hole Assembly 92
5.1.3 Experiment 3: Flexible Cube-in-Corner Assembly Task-(Neukasil RTV 230 Material) 96
5.1.4 Experiment 4: Flexible Cube-in-Corner Assembly Task-(Neukasil RTV 23 Material) 102
5.1.5 Experiment 5: Flexible Peg-in-Hole Assembly Task-(Neukasil RTV 230 Material) 105
5.1.6 Experiment 6: Flexible Peg-in-Hole Assembly Task-(Neukasil RTV 23 Material) 107
5.1.7 Remarks 107
5.2 Control of Unknown Switched Constrainted Robots 109
5.2.1 Experiment 7: Peg-in-Hole Assembly Processes of Rigid Objects 110
5.2.2 Experiment 8: Peg-in-Hole Assembly Processes of Flexible Objects 116
5.2.3 Notes on the DRAFC Strategy 117
5.3 Position Identification 122
5.3.1 Experiment 9: Peg-in-Hole Assembly Process of Rigid Object 122
5.3.2 Experiment 10: Peg-in-Hole Assembly Process of Flexible Object 125
5.3.3 Experiment 11: The Entire Peg-in-Hole Assembly Processes 127
5.3.4 Remarks on the Position Identification Strategy 129
6 Industrial Applications 133
6.1 Application 1: Cylinder Head Camshaft Caps Assembly 133
6.2 Application 2: Powertrain Air-Intake Manifold Assembly 135
7 Miscellaneous Topics 137
7.1 Human Error Identification in CS Modeling 137
7.1.1 Human Errors in the CS Modeling Process 137
7.1.2 The Suggested Human Error Identification Scheme 138
7.1.3 Experiment 12 142
7.2 Enhanced Impedance Parameters Estimation 145
7.2.1 Problem Formulation 146
7.2.2 Signals Smoothing-Based Enhanced Impedance Parameters Estimation 147
7.2.3 Experiment 13 151
Appendix A 153
Appendix B 158
Appendix C 177
Appendix D 182
Appendix E 183
References 186