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Article: A hidden Markov model-based assembly contact recognition system

TitleA hidden Markov model-based assembly contact recognition system
Authors
KeywordsContact recognition
Hidden Markov model
Industrial robotics
Intelligent assembly
Issue Date2003
PublisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/mechatronics
Citation
Mechatronics, 2003, v. 13 n. 8-9, p. 1001-1023 How to Cite?
AbstractA hidden Markov model (HMM)-based assembly contact state recognition system is designed and implemented. The system utilizes the force/torque data captured from a wrist force sensor to extract the intrinsic spatial relationships of contact formations arise from robotic assembly. The paper introduces a theoretical framework for contact recognition based on discrete HMM with special emphasis on the practical realization of the system using an industrial robot. With the detailed exposition of the major algorithms for solving the three key problems in HMM, namely, the evaluation of observation sequence probability, optimization of state sequence probability, and optimization of model parameters, a working prototype of HMM-based system is developed. The performance of the contact recognition system is investigated by using experimental studies. The results obtained clearly demonstrate that HMM is an effective means for assembly contact modelling and identification, and that the framework reported in this paper provides an essential ground work for the development of a practical intelligent robotic system. © 2003 Elsevier Science Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/74565
ISSN
2015 Impact Factor: 1.871
2015 SCImago Journal Rankings: 1.019
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_HK
dc.date.accessioned2010-09-06T07:02:35Z-
dc.date.available2010-09-06T07:02:35Z-
dc.date.issued2003en_HK
dc.identifier.citationMechatronics, 2003, v. 13 n. 8-9, p. 1001-1023en_HK
dc.identifier.issn0957-4158en_HK
dc.identifier.urihttp://hdl.handle.net/10722/74565-
dc.description.abstractA hidden Markov model (HMM)-based assembly contact state recognition system is designed and implemented. The system utilizes the force/torque data captured from a wrist force sensor to extract the intrinsic spatial relationships of contact formations arise from robotic assembly. The paper introduces a theoretical framework for contact recognition based on discrete HMM with special emphasis on the practical realization of the system using an industrial robot. With the detailed exposition of the major algorithms for solving the three key problems in HMM, namely, the evaluation of observation sequence probability, optimization of state sequence probability, and optimization of model parameters, a working prototype of HMM-based system is developed. The performance of the contact recognition system is investigated by using experimental studies. The results obtained clearly demonstrate that HMM is an effective means for assembly contact modelling and identification, and that the framework reported in this paper provides an essential ground work for the development of a practical intelligent robotic system. © 2003 Elsevier Science Ltd. All rights reserved.en_HK
dc.languageengen_HK
dc.publisherPergamon. The Journal's web site is located at http://www.elsevier.com/locate/mechatronicsen_HK
dc.relation.ispartofMechatronicsen_HK
dc.subjectContact recognitionen_HK
dc.subjectHidden Markov modelen_HK
dc.subjectIndustrial roboticsen_HK
dc.subjectIntelligent assemblyen_HK
dc.titleA hidden Markov model-based assembly contact recognition systemen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0957-4158&volume=13&spage=1001&epage=1023&date=2003&atitle=A+hidden+Markov+model-based+assembly+contact+recognition+systemen_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1016/S0957-4158(03)00012-6en_HK
dc.identifier.scopuseid_2-s2.0-0037672422en_HK
dc.identifier.hkuros81172en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0037672422&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume13en_HK
dc.identifier.issue8-9en_HK
dc.identifier.spage1001en_HK
dc.identifier.epage1023en_HK
dc.identifier.isiWOS:000184974500012-
dc.publisher.placeUnited Kingdomen_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK

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