Evaluation of the applica bility of the gaussian distribution mixture model for identification of the contact state in the problems of robotic assembly of "shaft—sleeve" connections

Abstract

The problem of evaluating the effectiveness of contact state recognition (CS) is solved based on the application of the Gaussian Mixture Model (GMM) in a force-controlled robotic assembly. Using the proposed CS modeling strategy of the GMM model based on the similarity measure of the distribution, a high degree of classifi cation success was obtained. An experimental setup with an ABB IRB-140 industrial robot was used to evaluate the operability of the proposed method.