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Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback
Qin, Fangbo1,2; Xu, De1,2; Zhang, Dapeng1,2; Li, Ying1,2
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2019-06-01
Volume24Issue:3Pages:1117-1128
Corresponding AuthorZhang, Dapeng(dapeng.zhang@ia.ac.cn)
AbstractThis 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, first 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 toward the target with a specified motion pattern. In this paper, the action classes of image feature guided motion and the force constrained motion are proposed based on the multicamera microscopic vision and three-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.
KeywordForce control learning from demonstration microscopic vision precision assembly robotic skill learning
DOI10.1109/TMECH.2019.2909081
WOS KeywordTASKS ; MODEL
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61873266] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61673383] ; Science Challenge Project[TZ2018006-0204-02] ; National Key Research and Development Program of China[2018YFD0400902]
Funding OrganizationNational Natural Science Foundation of China ; Science Challenge Project ; National Key Research and Development Program of China
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000472193600022
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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 AuthorZhang, Dapeng
Affiliation1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 101408, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Qin, Fangbo,Xu, De,Zhang, Dapeng,et al. Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(3):1117-1128.
APA Qin, Fangbo,Xu, De,Zhang, Dapeng,&Li, Ying.(2019).Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(3),1117-1128.
MLA Qin, Fangbo,et al."Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.3(2019):1117-1128.
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