The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper addresses failure detection in automated parts assembly, using the force signature captured during the contact phase of the assembly process. We use a supervised learning approach, specifically a Support Vector Machine (SVM), to distinguish between successful and failed assemblies. This paper describes our implementation and experimental results obtained with an electronic assembly application. We also analyze the tradeoff between system accuracy and number of training examples. We show that a less expensive sensor (a single-axis load cell instead of a six-axis force/torque sensor) provides enough information to detect failure. Finally, we use Principal Component Analysis (PCA) to compress the force signature and as a result reduce the number of examples required to train the system.

Keywords

assembly, force signature, signature analysis, failure detection, SVM, PCA

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Manipulation Lab

Text Reference

Alberto Rodriguez, David Bourne, Matthew T. Mason, Gregory F. Rossano, and JianJun Wang , "Failure Detection in Assembly: Force Signature Analysis," IEEE Conference on Automation Science and Engineering (CASE 2010), August, 2010.

BibTeX Reference

@inproceedings{Rodriguez_2010_6737,
   author = "Alberto Rodriguez and David Bourne and Matthew T. Mason and Gregory F. Rossano and JianJun Wang ",
   title = "Failure Detection in Assembly: Force Signature Analysis",
   booktitle = "IEEE Conference on Automation Science and Engineering (CASE 2010)",
   month = "August",
   year = "2010",
}

The Robotics Institute

Menu