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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  and
I. Lopez-Juarez
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)
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Abstract

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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.

Keywords

Compliant motionKnowledge discoveryPeg-in-holeFuzzy ARTMAPSkill acquisition
Type
Article
Information
Robotica , Volume 24 , Issue 6 , November 2006 , pp. 657 - 671
Copyright
2006 Cambridge University Press