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

*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-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.

Original languageEnglish
Title of host publicationAdvances in Robot Design and Intelligent Control : Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
Number of pages9
PublisherSpringer
Publication date2017
Pages421-429
ISBN (Print)978-3-319-49057-1
ISBN (Electronic)978-3-319-49058-8
DOIs
Publication statusPublished - 2017
Event25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 - Belgrade, Serbia
Duration: 30 Jun 20162 Jul 2016

Conference

Conference25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016
Country/TerritorySerbia
CityBelgrade
Period30/06/201602/07/2016
SeriesAdvances in Intelligent Systems and Computing
Volume540
ISSN1615-3871

Keywords

  • Assembly
  • Learning by demonstration
  • Skills

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