Generalization of orientation trajectories and force-torque profiles for robotic assembly
| Autor: | Aljaž Kramberger, Ole Madsen, Ales Ude, Dimitrios Chrysostomou, Andrej Gams, Bojan Nemec |
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| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Trajectory adaptation
0209 industrial biotechnology Computer science Orientation (computer vision) Generalization Trajectory generalization General Mathematics Work (physics) Programming by demonstration udc:007.52 02 engineering and technology Computer Science Applications Task (project management) 020901 industrial engineering & automation Control and Systems Engineering Position (vector) 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Algorithm Software Simulation |
| Zdroj: | Kramberger, A, Gams, A, Nemec, B, Chrysostomou, D, Madsen, O & Ude, A 2017, ' Generalization of orientation trajectories and force-torque profiles for robotic assembly ', Robotics and Autonomous Systems, vol. 98, pp. 333-346 . https://doi.org/10.1016/j.robot.2017.09.019 Kramberger, A, Gams, A, Nemec, B, Chrysostomou, D, Madsen, O & Ude, A 2017, ' Generalization of orientation trajectories and force-torque profiles for robotic assembly ' Robotics and Autonomous Systems, vol. 98, pp. 333-346 . DOI: 10.1016/j.robot.2017.09.019 Robotics and autonomous systems, vol. 98, pp. 333-346, 2017. Robotics and Autonomous Systems Kramberger, A, Gams, A, Nemec, B, Chrysostomou, D-C, Madsen, O & Ude, A 2017, ' Generalization of Orientation Trajectories and Force-Torque Profiles for Robotic Assembly ' Robotics and Autonomous Systems . |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/j.robot.2017.09.019 |
| Popis: | A typical robot assembly operation involves contacts with the parts of the product to be assembled and consequently requires the knowledge of not only position and orientation trajectories but also the accompanying force-torque profiles for successful performance. To learn the execution of assembly operations even when the geometry of the product varies across task executions, the robot needs to be able to adapt its motion based on a parametric description of the current task condition, which is usually provided by geometrical properties of the parts involved in the assembly. In our previous work we showed how positional control policies can be generalized to different task conditions. In this paper we propose a complete methodology to generalize also the orientational trajectories and the accompanying force-torque profiles to compute the necessary control policy for a given condition of the assembly task. Our method is based on statistical generalization of successfully recorded executions at different task.conditions, which are acquired by kinesthetic guiding. The parameters that describe thevarying task conditions define queries into the recorded training data. To improve theexecution of the skill after generalization, we combine the proposed approach with anadaptation method, thus enabling the refinement of the generalized assembly operation. |
| Databáze: | OpenAIRE |
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