TY - JOUR
T1 - Similarity-based Assembly Success/Failure Estimation Algorithm
AU - Na, Minwoo
AU - Kim, Tae Jung
AU - Song, Jae Bok
N1 - Publisher Copyright:
© 2020 The Korean Society of Mechanical Engineers
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - Mobile IT products, such as tablet PCs, are not only composed of parts with complex shapes, but also include various assembly processes, which makes it difficult to automate processes. Robot assembly based on position control exhibits a fast assembling speed, but if assembly fails, excessive contact force may occur and thus parts or robot may be damaged. In this study, we proposed a similarity-based assembly success/failure estimation algorithm to solve this problem. Several similarity evaluation methods were applied to the battery assembly process, which is a part of tablet PC. It is shown that a combination of similarities on Mahalanobis distance and singular value decomposition offer the best performance.
AB - Mobile IT products, such as tablet PCs, are not only composed of parts with complex shapes, but also include various assembly processes, which makes it difficult to automate processes. Robot assembly based on position control exhibits a fast assembling speed, but if assembly fails, excessive contact force may occur and thus parts or robot may be damaged. In this study, we proposed a similarity-based assembly success/failure estimation algorithm to solve this problem. Several similarity evaluation methods were applied to the battery assembly process, which is a part of tablet PC. It is shown that a combination of similarities on Mahalanobis distance and singular value decomposition offer the best performance.
KW - Assembly Success/Failure Estimation
KW - Force/Torque Sensor
KW - Robotic Assembly
KW - Similarity Measure
UR - http://www.scopus.com/inward/record.url?scp=85084521463&partnerID=8YFLogxK
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U2 - 10.3795/KSME-A.2020.44.1.071
DO - 10.3795/KSME-A.2020.44.1.071
M3 - Article
AN - SCOPUS:85084521463
VL - 44
SP - 71
EP - 77
JO - Transactions of the Korean Society of Mechanical Engineers, A
JF - Transactions of the Korean Society of Mechanical Engineers, A
SN - 1226-4873
IS - 1
ER -