Recognition of Contact States in Robotized Assembly Using Wavelet Transform and Support Vector Machines
Апстракт
This paper presents a method for recognition of contact states in robotized assembly. As a basic feature a generalized contact force between parts is chosen. Recognition machine teaching is carried out off line based on quasi-static contact force model. Offline features extraction using Discrete Wavelet Transform and classification using Support Vector Machines is carried out. From results of Support Vector Machines classification, fuzzy rules are extracted and Fuzzy Inference Machine for on line recognition of contact states is generated. Thus obtained fuzzy inference machine and features are used for recognition of contact states on-line. Proposed method is elaborated and tested in intensive real world experiments using an example of cylindrical peg into hole part mating.
Кључне речи:
Part mating / contact states / wavelet transform / support vector machinesИзвор:
Proceedings of International Conference on Innovative Technologies, IN-TECH 2010, 2010, 164-167Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Jakovljević, Živana AU - Petrović, Petar B. PY - 2010 UR - https://machinery.mas.bg.ac.rs/handle/123456789/5192 AB - This paper presents a method for recognition of contact states in robotized assembly. As a basic feature a generalized contact force between parts is chosen. Recognition machine teaching is carried out off line based on quasi-static contact force model. Offline features extraction using Discrete Wavelet Transform and classification using Support Vector Machines is carried out. From results of Support Vector Machines classification, fuzzy rules are extracted and Fuzzy Inference Machine for on line recognition of contact states is generated. Thus obtained fuzzy inference machine and features are used for recognition of contact states on-line. Proposed method is elaborated and tested in intensive real world experiments using an example of cylindrical peg into hole part mating. C3 - Proceedings of International Conference on Innovative Technologies, IN-TECH 2010 T1 - Recognition of Contact States in Robotized Assembly Using Wavelet Transform and Support Vector Machines EP - 167 SP - 164 UR - https://hdl.handle.net/21.15107/rcub_machinery_5192 ER -
@conference{ author = "Jakovljević, Živana and Petrović, Petar B.", year = "2010", abstract = "This paper presents a method for recognition of contact states in robotized assembly. As a basic feature a generalized contact force between parts is chosen. Recognition machine teaching is carried out off line based on quasi-static contact force model. Offline features extraction using Discrete Wavelet Transform and classification using Support Vector Machines is carried out. From results of Support Vector Machines classification, fuzzy rules are extracted and Fuzzy Inference Machine for on line recognition of contact states is generated. Thus obtained fuzzy inference machine and features are used for recognition of contact states on-line. Proposed method is elaborated and tested in intensive real world experiments using an example of cylindrical peg into hole part mating.", journal = "Proceedings of International Conference on Innovative Technologies, IN-TECH 2010", title = "Recognition of Contact States in Robotized Assembly Using Wavelet Transform and Support Vector Machines", pages = "167-164", url = "https://hdl.handle.net/21.15107/rcub_machinery_5192" }
Jakovljević, Ž.,& Petrović, P. B.. (2010). Recognition of Contact States in Robotized Assembly Using Wavelet Transform and Support Vector Machines. in Proceedings of International Conference on Innovative Technologies, IN-TECH 2010, 164-167. https://hdl.handle.net/21.15107/rcub_machinery_5192
Jakovljević Ž, Petrović PB. Recognition of Contact States in Robotized Assembly Using Wavelet Transform and Support Vector Machines. in Proceedings of International Conference on Innovative Technologies, IN-TECH 2010. 2010;:164-167. https://hdl.handle.net/21.15107/rcub_machinery_5192 .
Jakovljević, Živana, Petrović, Petar B., "Recognition of Contact States in Robotized Assembly Using Wavelet Transform and Support Vector Machines" in Proceedings of International Conference on Innovative Technologies, IN-TECH 2010 (2010):164-167, https://hdl.handle.net/21.15107/rcub_machinery_5192 .