Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines

dc.creator	Jakovljević, Živana
dc.creator	Petrović, Petar
dc.date.accessioned	2022-09-19T16:32:57Z
dc.date.available	2022-09-19T16:32:57Z
dc.date.issued	2010
dc.identifier.uri	https://machinery.mas.bg.ac.rs/handle/123456789/1138
dc.description.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.	en
dc.publisher	Springer-Verlag London Ltd, Godalming
dc.rights	restrictedAccess
dc.source	Proceedings of The 36th International Matador Conference
dc.subject	Support Vector Machines	en
dc.subject	Part Mating	en
dc.subject	Discrete Wavelet Transform	en
dc.subject	Contact State Recognition	en
dc.title	Recognition of Contact States in Robotized Assembly Using Qualitative Wavelet Based Features and Support Vector Machines	en
dc.type	conferenceObject
dc.rights.license	ARR
dc.citation.epage	308
dc.citation.other	: 305-308
dc.citation.rank	M14
dc.citation.spage	305
dc.identifier.doi	10.1007/978-1-84996-432-6_69
dc.identifier.scopus	2-s2.0-84857788054
dc.identifier.wos	000395597300069
dc.type.version	publishedVersion