SpringerLink
Log in

Force-Based Interaction for Distributed Precision Assembly

  • Conference paper
  • First Online:
Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

  • 1094 Accesses

Abstract

This paper documents our efforts to instantiate force-guided cooperative behaviors between robotic agents in the minifactory environment. Minifactory incorporates high-precision 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two mini-factory agents to perform compliant insertion. We present a custom force sensing device which has been developed as well as the control and communication systems used to coordinate the action of the agents. Finally, we conclude by presenting a set of experimental results which document the performance of the new force sensor as integrated in the minifactory system. These results document the first experimental confirmation of high-bandwidth (> 100Hz) coordination between agents within the minifactory system.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
EUR 29.95
Price includes VAT (Germany)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
EUR 42.79
Price includes VAT (Germany)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
EUR 53.49
Price includes VAT (Germany)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free ship** worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Ralph L. Hollis and Arthur E. Quaid. An architecture for agile assembly. In Proc. Am. Soc. of Precision Engineering, 10th Annual Mtg., Austin, TX, October 15–19 1995.

    Google Scholar 

  2. Alfred A. Rizzi and Ralph L. Hollis. Opportunities for increased intelligence and autonomy in robotic systems for manufacturing. In International Symposium of Robotics Research, pages 141–151, Hayama, Japan, October 1997.

    Google Scholar 

  3. Alfred A. Rizzi, Jay Gowdy, and Ralph L. Hollis. Agile assembly architecture: An agent-based approach to modular precision assembly systems. In Proc. IEEE Int’l. Conf. on Robotics and Automation, pages Vol. 2, p. 1511–1516, Albuquerque, April 1997.

    Google Scholar 

  4. Michael L. Chen, Shinji Kume, Alfred A. Rizzi, and Ralph L. Hollis. Visually guided coordination for distributed precision assembly. In Proc. IEEE Int’l Conf. on Robotics and Automation, pages 1651–1656, April 2000.

    Google Scholar 

  5. Matt T. Mason. Compliance and force control for computer controlled manipulators. In IEEE Transactions on Systems, Man, and Cybernetics, pages 418–432, June 1981.

    Google Scholar 

  6. Marc H. Raibert and John J. Craig. Hybrid position/force control of manipulators. In Journal of Dynamic Systems, Measurement, and Control, pages 126–133, 1981.

    Google Scholar 

  7. Neville Hogan. Impedance control: An approach to manipulation: Part i-theory, part ii-implementation, part iii-applications. In Journal of Dynamic Systems, Measurement, and Control, pages 1–24, 1985.

    Google Scholar 

  8. Robert J. Anderson and Mark. W. Spong. Hybrid impedance control of robotic manipulators. In IEEE Journal of Robotics and Automation, pages 549–556, Oct 1988.

    Google Scholar 

  9. Oussama Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. In IEEE Journal of Robotics and Automation, pages 43–53, Feb 1987.

    Google Scholar 

  10. Stefano Chiaverini, Bruno Siciliano, and Luigi Villani. A survey of robot interaction control schemes with experimental comparison. In IEEE Transactions on Mechatronics, pages 273–285, Sept 1999.

    Google Scholar 

  11. Zack J. Butler, Alfred A. Rizzi, and Ralph L. Hollis. Precision integrated 3-DOF position sensor for planar linear motors. In Proc. IEEE Int’l. Conf. on Robotics and Automation, pages 3109–14, 1998.

    Google Scholar 

  12. Arthur E. Quaid and Ralph L. Hollis. 3-DOF closed-loop control for planar linear motors. In Proc. IEEE Int’l Conf. on Robotics and Automation, pages 2488–2493, May 1998.

    Google Scholar 

  13. Shinji Kume and Alfred A. Rizzi. A high-performance network infrastructure and protocols for distributed automation. In Proc. IEEE Int’l Conf. on Robotics and Automation, 2001. (to appear).

    Google Scholar 

  14. Bruce A. Sawyer. Linear magnetic drive system. U. S. Patent 3,735,231, May 22 1973.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA

    Richard T. DeLuca, Alfred A. Rizzi & Ralph L. Hollis

Authors
  1. Richard T. DeLuca
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alfred A. Rizzi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Ralph L. Hollis
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

Rights and permissions

Reprints and permissions

Copyright information

© 2001 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

DeLuca, R.T., Rizzi, A.A., Hollis, R.L. (2001). Force-Based Interaction for Distributed Precision Assembly. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_15

Download citation

  • DOI: https://doi.org/10.1007/3-540-45118-8_15

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation