Paper Info
Title
A high-speed method of detecting contact-state transitions and its implementation in a task-coordinate manipulation system
Abstract
We have developed a highly reliable method of detecting contact-state transitions in real time. In the detection algorithm, feature variables, which fluctuate abruptly when a contact state transition occurs, are selected. The differential of the feature trajectory is monitored to distinguish the transition region from the stable region. To confirm that a state transition has actually occurred in the region, the duration of the region is measured. With this method, a contact-state transition can be detected with a 40-msec delay. We also have developed an experimental manipulation system, in which motion execution management and motion monitoring and execution modules operate independently. Using transputers and a six-degree-of-freedom direct-drive manipulator, a square-peg insertion task is carried out to evaluate the effectiveness of the detection method in an actual environment. The experimental results show that contact-state transitions can be accurately detected and that motion commands can be quickly switched by using the detected transition information
Year
DOI
Venue
1996
10.1109/ROBOT.1996.506167
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference
Keywords
Field
DocType
assembling,computerised monitoring,mechanical contact,motion control,path planning,real-time systems,robot programming,6-DOF direct-drive manipulator,contact-state transition detection,feature trajectory,motion execution management,motion execution module,motion monitoring module,real time systems,square-peg insertion task,task-coordinate manipulation system
Motion planning,Motion control,Control theory,Simulation,Manipulator,Control engineering,Engineering,Trajectory,Robot programming
Conference
Volume
Issue
ISSN
3
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-2988-0
2
0.36
References 
Authors
3
2
Name
Order
Citations
PageRank
Ken-ichiro Shimokura1265.31
Shin-yo Muto2546.32