Title :
Fast programming of Peg-in-hole Actions by human demonstration
Author :
Yang, Y. ; Lin, L.L. ; Song, Y.T. ; Nemec, B. ; Ude, A. ; Buch, A.G. ; Kruger, N. ; Savarimuthu, T.R.
Author_Institution :
Inst. of Plasma Phys., Hefei, China
Abstract :
Peg-in-Hole actions play an important role in industrial assembly. In this paper, we present a system which performs such actions after learning by human demonstration. Strategies for getting robust human-demonstrated PiH trajectories are investigated, and a number of PiH experiments are conducted to verify the performance of the proposed approach. The results show that our approach leads to a high PiH success rate and allows the robot to fine-tune the PiH trajectories to achieve faster performance.
Keywords :
dexterous manipulators; industrial manipulators; intelligent robots; robotic assembly; industrial assembly; learning-by-demonstration; peg-in-hole actions; robust human-demonstrated PiH trajectories; Estimation; Principal component analysis; Robot sensing systems; Robustness; Three-dimensional displays; Trajectory; Learning-by-demonstration; Peg-in-Hole; Robot automation;
Conference_Titel :
Mechatronics and Control (ICMC), 2014 International Conference on
Print_ISBN :
978-1-4799-2537-7
DOI :
10.1109/ICMC.2014.7231702