Behaviour-based approach for skill acquisition during assembly operations, starting from scratch

Authors:
J. Corona-castuera;I. Lopez-juarez
Affiliations:
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, Quer ...;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, Quer ...
Venue:
Robotica
Year:
2006

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Abstract

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.