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

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    Self organizing maps
    Robotics
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Mechanical Engineering

    Cite this

    Flexible assembly work cooperating system based on work state identifications by a self-organizing map. / Hayakawa, Yasuhisa; Ogata, Tetsuya; Sugano, Shigeki.

    In: IEEE/ASME Transactions on Mechatronics, Vol. 9, No. 3, 09.2004, p. 520-528.

    Research output: Contribution to journalArticle

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