Learning peg-in-hole assembly using Cartesian DMPs with feedback mechanism. Issue 6 (19th October 2020)

• Record Type: Journal Article
• Authors: Liu, Nailong; Zhou, Xiaodong; Liu, Zhaoming; Wang, Hongwei; Cui, Long
• Is Part Of: Assembly automation. Volume 40:Issue 6(2020)
• Page Start: 895
• Page End: 904
• Publication Date: 2020-10-19
• Subjects: Peg-in-hole -- Robotic assembly -- Cartesian DMPs -- Learning from demonstration -- Compliance -- Force control -- Control -- Automatic assembly -- Assembly -- Artificial intelligence -- Assembly sequence planning; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-04-2020-0053
• Languages: English
• ISSNs: 0144-5154

Abstract

Abstract : Purpose: This paper aims to enable the robot to obtain human-like compliant manipulation skills for the peg-in-hole (PiH) assembly task by learning from demonstration. Design/methodology/approach: A modified dynamic movement primitives (DMPs) model with a novel hybrid force/position feedback in Cartesian space for the robotic PiH problem is proposed by learning from demonstration. To ensure a compliant interaction during the PiH insertion process, a Cartesian impedance control approach is used to track the trajectory generated by the modified DMPs. Findings: The modified DMPs allow the robot to imitate the trajectory of demonstration efficiently and to generate a smoother trajectory. By taking advantage of force feedback, the robot shows compliant behavior and could adjust its pose actively to avoid a jam. This feedback mechanism significantly improves the dynamic performance of the interactive process. Both the simulation and the PiH experimental results show the feasibility and effectiveness of the proposed model. Originality/value: The trajectory and the compliant manipulation skill of the human operator can be learned simultaneously by the new model. This method adopted a modified DMPs model in Cartesian space to generate a trajectory with a lower speed at the beginning of the motion, which can reduce the magnitude of the contact force.