Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines
Само за регистроване кориснике
2010
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper presents a method for recognition of contact states in robotized assembly using an example of cylindrical peg into hole part mating. Starting from force quasi-static model, offline features extraction using Discrete Wavelet Transform and teaching (classification) using Support Vector Machines is carried out. Thus obtained class boundaries together with features extracted from signals of generated contact force vector are used for recognition of contact states on-line. Proposed method is tested using intensive real world experiments.
Кључне речи:
Support Vector Machines / Part Mating / Discrete Wavelet Transform / Contact State RecognitionИзвор:
Proceedings of The 36th International Matador Conference, 2010, 305-308Издавач:
- Springer-Verlag London Ltd, Godalming
DOI: 10.1007/978-1-84996-432-6_69
WoS: 000395597300069
Scopus: 2-s2.0-84857788054
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Jakovljević, Živana AU - Petrović, Petar PY - 2010 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1138 AB - This paper presents a method for recognition of contact states in robotized assembly using an example of cylindrical peg into hole part mating. Starting from force quasi-static model, offline features extraction using Discrete Wavelet Transform and teaching (classification) using Support Vector Machines is carried out. Thus obtained class boundaries together with features extracted from signals of generated contact force vector are used for recognition of contact states on-line. Proposed method is tested using intensive real world experiments. PB - Springer-Verlag London Ltd, Godalming C3 - Proceedings of The 36th International Matador Conference T1 - Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines EP - 308 SP - 305 DO - 10.1007/978-1-84996-432-6_69 ER -
@conference{ author = "Jakovljević, Živana and Petrović, Petar", year = "2010", abstract = "This paper presents a method for recognition of contact states in robotized assembly using an example of cylindrical peg into hole part mating. Starting from force quasi-static model, offline features extraction using Discrete Wavelet Transform and teaching (classification) using Support Vector Machines is carried out. Thus obtained class boundaries together with features extracted from signals of generated contact force vector are used for recognition of contact states on-line. Proposed method is tested using intensive real world experiments.", publisher = "Springer-Verlag London Ltd, Godalming", journal = "Proceedings of The 36th International Matador Conference", title = "Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines", pages = "308-305", doi = "10.1007/978-1-84996-432-6_69" }
Jakovljević, Ž.,& Petrović, P.. (2010). Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines. in Proceedings of The 36th International Matador Conference Springer-Verlag London Ltd, Godalming., 305-308. https://doi.org/10.1007/978-1-84996-432-6_69
Jakovljević Ž, Petrović P. Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines. in Proceedings of The 36th International Matador Conference. 2010;:305-308. doi:10.1007/978-1-84996-432-6_69 .
Jakovljević, Živana, Petrović, Petar, "Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines" in Proceedings of The 36th International Matador Conference (2010):305-308, https://doi.org/10.1007/978-1-84996-432-6_69 . .