Fast setup and adaptation of industrial assembly tasks with force-based exception strategies

Aljaž Kramberger; Casper Schou; Dimitrios Chrysostomou; Andrej Gams; Ole Madsen; Aleš Ude

doi:10.1007/978-3-319-49058-8_46

Fast setup and adaptation of industrial assembly tasks with force-based exception strategies

Aljaž Kramberger^*, Casper Schou, Dimitrios Chrysostomou, Andrej Gams, Ole Madsen, Aleš Ude

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Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

Abstract

In this paper we present a method for fast setup and adaptation of desired movement for industrial assembly tasks. Our method is based on adaption of desired movements acquired by Programming by Demonstration (PbD) and fast setup methods such as the Skill Based System (SBS) that are capable to quickly learn sequential skills to perform assembly. The major novelty of the proposed method is the integration of fast setup methods with force based adaptation skills and exception strategies for fast and efficient task execution. To improve the execution of the skill, the learned movements are online adapted according to forces and torques arising during the execution, effectively eliminating the environmental uncertainties. Results show that this approach can be arbitrarily applied to different robotics platforms. We performed tests on the 7-axis Kuka LWR-4 and on the 6- axis UR-5 Universal robot.

Originalsprog	Engelsk
Titel	Advances in Robot Design and Intelligent Control : Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
Antal sider	9
Forlag	Springer
Publikationsdato	2017
Sider	421-429
ISBN (Trykt)	978-3-319-49057-1
ISBN (Elektronisk)	978-3-319-49058-8
DOI	https://doi.org/10.1007/978-3-319-49058-8_46
Status	Udgivet - 2017
Begivenhed	25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 - Belgrade, Serbien Varighed: 30 jun. 2016 → 2 jul. 2016

Konference

Konference	25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016
Land/Område	Serbien
By	Belgrade
Periode	30/06/2016 → 02/07/2016

Navn	Advances in Intelligent Systems and Computing
Vol/bind	540
ISSN	1615-3871

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10.1007/978-3-319-49058-8_46

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ACAT: Learning and Execution of Action Categories
Madsen, O. & Chrysostomou, D.
01/03/2013 → 30/04/2016
Projekter: Projekt › Forskning

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Citationsformater

Kramberger, A., Schou, C., Chrysostomou, D., Gams, A., Madsen, O., & Ude, A. (2017). Fast setup and adaptation of industrial assembly tasks with force-based exception strategies. I Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16) (s. 421-429). Springer. https://doi.org/10.1007/978-3-319-49058-8_46

Kramberger, Aljaž ; Schou, Casper ; Chrysostomou, Dimitrios et al. / Fast setup and adaptation of industrial assembly tasks with force-based exception strategies. Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). Springer, 2017. s. 421-429 (Advances in Intelligent Systems and Computing, Bind 540).

@inproceedings{277a801388014e9ea169342c8e168021,

title = "Fast setup and adaptation of industrial assembly tasks with force-based exception strategies",

abstract = "In this paper we present a method for fast setup and adaptation of desired movement for industrial assembly tasks. Our method is based on adaption of desired movements acquired by Programming by Demonstration (PbD) and fast setup methods such as the Skill Based System (SBS) that are capable to quickly learn sequential skills to perform assembly. The major novelty of the proposed method is the integration of fast setup methods with force based adaptation skills and exception strategies for fast and efficient task execution. To improve the execution of the skill, the learned movements are online adapted according to forces and torques arising during the execution, effectively eliminating the environmental uncertainties. Results show that this approach can be arbitrarily applied to different robotics platforms. We performed tests on the 7-axis Kuka LWR-4 and on the 6- axis UR-5 Universal robot.",

keywords = "Assembly, Learning by demonstration, Skills",

author = "Alja{\v z} Kramberger and Casper Schou and Dimitrios Chrysostomou and Andrej Gams and Ole Madsen and Ale{\v s} Ude",

year = "2017",

doi = "10.1007/978-3-319-49058-8_46",

language = "English",

isbn = "978-3-319-49057-1",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer",

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Kramberger, A, Schou, C , Chrysostomou, D, Gams, A, Madsen, O & Ude, A 2017, Fast setup and adaptation of industrial assembly tasks with force-based exception strategies. i Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). Springer, Advances in Intelligent Systems and Computing, bind 540, s. 421-429, 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016, Belgrade, Serbien, 30/06/2016. https://doi.org/10.1007/978-3-319-49058-8_46

Fast setup and adaptation of industrial assembly tasks with force-based exception strategies. / Kramberger, Aljaž; Schou, Casper ; Chrysostomou, Dimitrios et al.
Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). Springer, 2017. s. 421-429 (Advances in Intelligent Systems and Computing, Bind 540).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - Fast setup and adaptation of industrial assembly tasks with force-based exception strategies

AU - Kramberger, Aljaž

AU - Schou, Casper

AU - Chrysostomou, Dimitrios

AU - Gams, Andrej

AU - Madsen, Ole

AU - Ude, Aleš

PY - 2017

Y1 - 2017

N2 - In this paper we present a method for fast setup and adaptation of desired movement for industrial assembly tasks. Our method is based on adaption of desired movements acquired by Programming by Demonstration (PbD) and fast setup methods such as the Skill Based System (SBS) that are capable to quickly learn sequential skills to perform assembly. The major novelty of the proposed method is the integration of fast setup methods with force based adaptation skills and exception strategies for fast and efficient task execution. To improve the execution of the skill, the learned movements are online adapted according to forces and torques arising during the execution, effectively eliminating the environmental uncertainties. Results show that this approach can be arbitrarily applied to different robotics platforms. We performed tests on the 7-axis Kuka LWR-4 and on the 6- axis UR-5 Universal robot.

AB - In this paper we present a method for fast setup and adaptation of desired movement for industrial assembly tasks. Our method is based on adaption of desired movements acquired by Programming by Demonstration (PbD) and fast setup methods such as the Skill Based System (SBS) that are capable to quickly learn sequential skills to perform assembly. The major novelty of the proposed method is the integration of fast setup methods with force based adaptation skills and exception strategies for fast and efficient task execution. To improve the execution of the skill, the learned movements are online adapted according to forces and torques arising during the execution, effectively eliminating the environmental uncertainties. Results show that this approach can be arbitrarily applied to different robotics platforms. We performed tests on the 7-axis Kuka LWR-4 and on the 6- axis UR-5 Universal robot.

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KW - Learning by demonstration

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Kramberger A, Schou C , Chrysostomou D, Gams A, Madsen O, Ude A. Fast setup and adaptation of industrial assembly tasks with force-based exception strategies. I Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). Springer. 2017. s. 421-429. (Advances in Intelligent Systems and Computing, Bind 540). doi: 10.1007/978-3-319-49058-8_46

Fast setup and adaptation of industrial assembly tasks with force-based exception strategies

Abstract

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ACAT: Learning and Execution of Action Categories

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