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Robotic skill learning for precision assembly with microscopic vision and force feedback
Fangbo Qin1,2; De Xu1,2; Dapeng Zhang1; Ying Li1,2
Source PublicationIEEE/ASME Transactions on Mechatronics
2019
Issuein pressPages:in press
Abstract

This paper proposes a skill learning approach for precision assembly robot, aiming to realize efficient skill transfer from teacher to robot through several demonstrations. The framework is designed considering that a skill has multiple controllers and procedures. A complex skill is segmented to an action sequence according to the changes of the teacher's selective attention settings on the multiple system variables. The learning of each action is to select a predefined action class and learn its key parameters from the demonstration data. The action sequence forms a finite state machine. To execute an action, firstly the action instance is generated from the action class and the learned parameters. Then at each time step the action state is updated by the Gaussian mixture model based dynamical system and is sent to the lower level controller as the reference signal, so that the action state evolves towards the target with a specified motion pattern. In this work, the action classes of image feature guided motion and the force constrained motion are proposed based on the multi-camera microscopic vision and 3-dimensional force feedback, respectively, which can be reused in different skills. The proposed approach was validated by the two experiments of the sleeve-cavity assembly and the coil-cylinder assembly.

KeywordRobotic Skill Learning Precision Assembly Learning From Demonstration Microscopic Vision Force Control
DOI10.1109/TMECH.2019.2909081
Indexed BySCI
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23621
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorDapeng Zhang
Affiliation1.中国科学院自动化研究所
2.中国科学院大学人工智能学院
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Fangbo Qin,De Xu,Dapeng Zhang,et al. Robotic skill learning for precision assembly with microscopic vision and force feedback[J]. IEEE/ASME Transactions on Mechatronics,2019(in press):in press.
APA Fangbo Qin,De Xu,Dapeng Zhang,&Ying Li.(2019).Robotic skill learning for precision assembly with microscopic vision and force feedback.IEEE/ASME Transactions on Mechatronics(in press),in press.
MLA Fangbo Qin,et al."Robotic skill learning for precision assembly with microscopic vision and force feedback".IEEE/ASME Transactions on Mechatronics .in press(2019):in press.
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