Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning
This paper presents implementation of optimal search strategy (OSS) in verification of assembly process based on neural vibration learning. The application problem is the complex robot assembly of miniature parts in the example of mating the gears of one multistage planetary speed reducer. Assembly...
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/549489 |
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| _version_ | 1850233331370688512 |
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| author | Lejla Banjanovic-Mehmedovic Senad Karic Fahrudin Mehmedovic |
| author_facet | Lejla Banjanovic-Mehmedovic Senad Karic Fahrudin Mehmedovic |
| author_sort | Lejla Banjanovic-Mehmedovic |
| collection | DOAJ |
| description | This paper presents implementation of optimal search strategy (OSS) in verification of assembly process based on neural vibration learning. The application problem is the complex robot assembly of miniature parts in the example of mating the gears of one multistage planetary speed reducer. Assembly of tube over the planetary gears was noticed as the most difficult problem of overall assembly. The favourable influence of vibration and rotation movement on compensation of tolerance was also observed. With the proposed neural-network-based learning algorithm, it is possible to find extended scope of vibration state parameter. Using optimal search strategy based on minimal distance path between vibration parameter stage sets (amplitude and frequencies of robots gripe vibration) and recovery parameter algorithm, we can improve the robot assembly behaviour, that is, allow the fastest possible way of mating. We have verified by using simulation programs that search strategy is suitable for the situation of unexpected events due to uncertainties. |
| format | Article |
| id | doaj-art-0321497e45ea4ccaa1c6c871abf3fb89 |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-0321497e45ea4ccaa1c6c871abf3fb892025-08-20T02:02:57ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/549489549489Optimal Search Strategy of Robotic Assembly Based on Neural Vibration LearningLejla Banjanovic-Mehmedovic0Senad Karic1Fahrudin Mehmedovic2Faculty of Electrical Engineering, University of Tuzla, 75000 Tuzla, Bosnia and HerzegovinaH&H Inc., 75000 Tuzla, Bosnia and HerzegovinaABB, 71000 Sarajevo, Bosnia and HerzegovinaThis paper presents implementation of optimal search strategy (OSS) in verification of assembly process based on neural vibration learning. The application problem is the complex robot assembly of miniature parts in the example of mating the gears of one multistage planetary speed reducer. Assembly of tube over the planetary gears was noticed as the most difficult problem of overall assembly. The favourable influence of vibration and rotation movement on compensation of tolerance was also observed. With the proposed neural-network-based learning algorithm, it is possible to find extended scope of vibration state parameter. Using optimal search strategy based on minimal distance path between vibration parameter stage sets (amplitude and frequencies of robots gripe vibration) and recovery parameter algorithm, we can improve the robot assembly behaviour, that is, allow the fastest possible way of mating. We have verified by using simulation programs that search strategy is suitable for the situation of unexpected events due to uncertainties.http://dx.doi.org/10.1155/2011/549489 |
| spellingShingle | Lejla Banjanovic-Mehmedovic Senad Karic Fahrudin Mehmedovic Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning Journal of Robotics |
| title | Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning |
| title_full | Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning |
| title_fullStr | Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning |
| title_full_unstemmed | Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning |
| title_short | Optimal Search Strategy of Robotic Assembly Based on Neural Vibration Learning |
| title_sort | optimal search strategy of robotic assembly based on neural vibration learning |
| url | http://dx.doi.org/10.1155/2011/549489 |
| work_keys_str_mv | AT lejlabanjanovicmehmedovic optimalsearchstrategyofroboticassemblybasedonneuralvibrationlearning AT senadkaric optimalsearchstrategyofroboticassemblybasedonneuralvibrationlearning AT fahrudinmehmedovic optimalsearchstrategyofroboticassemblybasedonneuralvibrationlearning |