Flexible assembly work cooperating system based on work state identifications by a self-organizing map

Yasuhisa Hayakawa, Tetsuya Ogata, Shigeki Sugano

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper presents a method of realizing flexible assembly work cooperation where the assembler is free to carry out the work, without constraints in the process. To realize such systems, there exists an issue of identifying work states during the assembly and to determine when and what kind of support is necessary. As an approach to solve such issues we took a self-organizing approach in constructing a work model, as an abstract model describing typical work states during the assembly. The necessity of support is judged by detecting uncommon work states occurring, and the type of support is determined by detecting the work state. Examples of work state identifications by the self-organized map are shown. We carried out experiments to evaluate the judgment of situational necessity of support and to verify the correct identification rate of typical work states. Finally a robotic support system was constructed that gives supports of autonomously holding and handing out assembly pieces by the judging of situational necessity of support.

Original languageEnglish
Pages (from-to)520-528
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Volume9
Issue number3
DOIs
Publication statusPublished - 2004 Sep 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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