Learning to Assemble Noncylindrical Parts Using Trajectory Learning and Force Tracking
文献类型：期刊论文
| 作者 | Su, Jianhua2,3 ; Meng, Yan1; Wang, Lili1; Yang, Xu2,3
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2021-09-20 |
| 页码 | 12 |
| 关键词 | Force Trajectory Robots Task analysis Hidden Markov models Impedance Training Assembly skill impedance control learning from demonstration movement primitives (MPs) |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2021.3110825 |
| 通讯作者 | Su, Jianhua(jianhua.su@ia.ac.cn) |
| 英文摘要 | The purpose of this article is to teach a robot assembly skills from demonstrations, and we attempt to train both the trajectory and the insertion force simultaneously. We encode human demonstrations data via motion primitives and, then, generate a reference trajectory and a prescribed force profile for a new assembly task using the combination of the motion primitives. We then propose an adaptive impedance controller to track the prescribed force with unknown environment stiffness, where the impedance parameters are estimated by the optimal solution of an equivalent linearization model. Our approach combines adaptive impedance control techniques with learning from demonstration on the same that makes it tractable and applicable to a real robot. Experiments on several typical noncylindrical parts illustrate the efficiency of the proposed method. |
| WOS关键词 | IMPEDANCE CONTROL ; TASKS |
| 资助项目 | Beijing Natural Science Foundation[L201019] ; National Natural Science Foundation of China[91848109] ; Major Scientific and Technological Innovation Projects in Shandong Province[2019JZZY010430] ; Technology on Space Intelligent Control Laboratory[HTKJ2019KL502013] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000731658700001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Major Scientific and Technological Innovation Projects in Shandong Province ; Technology on Space Intelligent Control Laboratory |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46773]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 通讯作者 | Su, Jianhua |
| 作者单位 | 1.Univ Chinese Acad Sci, Beijing 100864, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, Jianhua,Meng, Yan,Wang, Lili,et al. Learning to Assemble Noncylindrical Parts Using Trajectory Learning and Force Tracking[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021:12. |
| APA | Su, Jianhua,Meng, Yan,Wang, Lili,&Yang, Xu.(2021).Learning to Assemble Noncylindrical Parts Using Trajectory Learning and Force Tracking.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
| MLA | Su, Jianhua,et al."Learning to Assemble Noncylindrical Parts Using Trajectory Learning and Force Tracking".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021):12. |
入库方式： OAI收割
来源：自动化研究所
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