A machine learning algorithm for automated assembly

Abstract

A primary source of difficulty in automated assembly is the uncertainty in the relative position of the parts being assembled. This study focuses on a machine learning approach for solving the problem. Force sensor information, responses to recent moves and results from previous assemblies are used to generate a set of production rules. These rules govern the motion of the robot during the assembly process.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>