• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.878-886
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• 2004

Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This paper proposes an augmented Petri net and an algorithm to adapt the assembly model on-line during actual assembly process. The augmented Petri net identifies events using force and position information simultaneously. Unmodeled contact states are identified and incorporated into the model on-line. The proposed method increases the level of intelligence of the robot system by enhancing the autonomy. The proposed method is evaluated by simulation and experiments with L-type peg-in-hole assembly using a two-arm robot system.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.490-493
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• 2002

In this paper, the old Fourier-Motzkin method (abbreviated as the old FH method from now on) is first modified to the form which can derive all minimal vectors as well as all minimal support vectors of nonnegative integer homogeneous solutions (i.e., T-invariants) for a matrix equation $Ax=b=0^{m{\times}1}$, $A\epsilonZ^{m{\times}n}$ and $b\epsilonZ^{m{\times}1}$, of a given Petri net, where the old FM method is a well-known and direct method that can obtain at least all minimal support solutions for $Ax=0^{m{\times}1}$ from the incidence matrix . $A\epsilonZ^{m{\times}n}$, Secondly, for $Ax=b\ne0^{m{\times}n}$ a new extended FM method is given; i.e., all nonnegative integer minimal vectors which contain all minimal support vectors of not only homogeneous but also inhomogeneous solutions are systematically obtained by applying the above modified FH method to the augmented incidence matrix $\tilde{A}$ =〔A,-b〕$\epsilon$ $Z^{m{\times}(n＋1)}$ s.t. $\tilde{A}\tilde{x}$ = 0^{m{\times}1}$ However, note that for this extended FM method we need some criteria to obtain a minimal vector as well as a minimal support vector from both of nonnegative integer homogeneous and inhomogeneous solutions for Ax=b. Then those criteria are also discussed and given in this paper.