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Behaviour-based approach for skill acquisition during assembly operations, starting from scratch

Published online by Cambridge University Press:  11 May 2006

J. Corona-Castuera
Affiliation:
Grupo de Investigación en Mecatrónica y Sistemas Inteligentes de Manufactura (GIMSIM) CIATEQ A.C., Centro de Tecnología Avanzada, Manantiales 23A, Fracc. Ind. B.Q., El Marques, Querétaro CP 76246 (Mexico)
I. Lopez-Juarez
Affiliation:
Grupo de Investigación en Mecatrónica y Sistemas Inteligentes de Manufactura (GIMSIM) CIATEQ A.C., Centro de Tecnología Avanzada, Manantiales 23A, Fracc. Ind. B.Q., El Marques, Querétaro CP 76246 (Mexico)

Abstract

Industrial robots in poorly structured environments have to interact compliantly with this environment for successful operations. In this paper, we present a behaviour-based approach to learn peg-in-hole operations from scratch. The robot learns autonomously the initial mapping between contact states to motion commands employing fuzzy rules and creating an Acquired-Primitive Knowledge Base (ACQ-PKB), which is later used and refined on-line by a Fuzzy ARTMAP neural network-based controller. The effectiveness of the approach is tested comparing the compliant motion behaviour using the ACQ-PKB and a priori Given-Primitive Knowledge Base (GVN-PKB). Results using a KUKA KR15 industrial robot validate the approach.

Type
Article
Copyright
2006 Cambridge University Press

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