Reference : Rule-Based Supervisory Control-Extension for Automated Manufacturing Processes
Scientific congresses, symposiums and conference proceedings : Paper published in a journal
Engineering, computing & technology : Mechanical engineering
Computational Sciences
http://hdl.handle.net/10993/39025
Rule-Based Supervisory Control-Extension for Automated Manufacturing Processes
English
Klecker, Sophie mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Hichri, Bassem mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
2019
International Journal of Mechanical Engineering and Robotics Research
Yes
No
International
2278-0149
European Conference on Materials, Mechatronics and Manufacturing - ECMMM 2019
from 16-02-2019 to 18-02-2019
Amsterdam
The Netherlands
[en] programming by demonstration ; rule-based system ; human mimicry ; biomimetics ; supervisory system ; hierarchical control
[en] Before performing a surface finishing process, human operators analyze the workpiece-conditions and react accordingly, i.e. they adapt the contact-situation of the tool with respect to the surface. This first step is ignored in most suggested automation concepts. Although their performance is satisfactory for the general process thanks to adaptive position- and force-/torque-control algorithms, they are unable to address specific problematic cases as often encountered in practice because of variations in workpiece-dimensions or -positioning. In this work, a human mimicking element is developed to overcome this limitation of current control concepts and to translate human expertise to the robotic manipulator. A rule-based system is designed where human knowledge is encoded as if-then rules. This system is integrated with a previously suggested control strategy in a hierarchical manner. The developed concept is experimentally validated on a KUKA LWR 4+-robotic manipulator.
http://hdl.handle.net/10993/39025

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