Towards learning from demonstration system for parts assembly: A graph based representation for knowledge
Towards learning from demonstration system for parts assembly: A graph based representation for knowledge
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DOI：
10.1109/cyber.2014.6917456
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发表时间：
2014-10
期刊：
影响因子：
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通讯作者：
Yue Wang;R. Xiong;Longbin Shen;K. Sun;Jiafan Zhang;Liwei Qi
中科院分区：
文献类型：
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作者：
Yue Wang;R. Xiong;Longbin Shen;K. Sun;Jiafan Zhang;Liwei Qi
工业机器人在制造业中发挥着越来越重要的作用，但它对用户编程的要求很高，既耗时又具有挑战性。在这种情况下，需要一种能够对机器人进行自动编程机构。学习示范系统(LDS)就是以此为目标的系统之一。本文提出了一种基于图的知识表示方法，称为装配图(AG)，用于描述与特定工作空间或机器人无关的零件装配知识。在此图表示的基础上，提出了面向零件装配的LDS框架，以实现知识转移和知识转移。前者意味着零件装配知识可以从人类传递到机器人，后者意味着知识可以从学习的计算机传递到具有其他工作空间的任何其他机器人。此外，我们还提出了这一概念框架的实现，包括演示和执行两个阶段。在演示阶段，真人教师演示零件的装配过程，并通过摄像系统进行记录。从图像中检测出装配关系，并用AG表示。该算法综合考虑了零件的特性和机器人自身的特点，得到了各零件的精确位姿。通过使用该解决方案，机器人可以在执行阶段按照演示所示的方式进行装配。在实验中，积木用于组装。我们的机器人成功地将一些积木组装在一起，这最初是由一名人类教师演示的。
The industrial robot plays an increasingly important role in manufacturing industry, but it is limited by its high prerequisite of programming on users, which is time consuming and challenging. In this context, a mechanism enabling autoprogram of robot is desired. Learning from demonstration system (LDS) is one of systems that aim on this goal. In this paper, we present a graph based representation of knowledge called assembly graph (AG) to describe the knowledge on parts assembly, which is independent on specific workspace or robot. Based on this graph representation, a LDS framework is then proposed for parts assembly to enable knowledge transform and knowledge transfer. The former means that the knowledge on part assembly can be transformed from the human to the robot and the latter means that the knowledge can be transferred from the leaned computer to any other robots with other workspace. Besides, we present an implementation of this conceptual framework consisting of two stages including demonstration and execution. In demonstration stage, a human teacher shows the process of parts assembly, which is recorded by a camera system. The assembly relations are detected from images and represented by AG. It is solved by taking property of parts as well as the robot into consideration to obtain the precise pose of each part. By using the solution, the robot can assemble the parts as shown in demonstration in the execution stage. In the experiment, the building blocks are used for assembly. Our robot succeeds in assembling some building blocks together which is initially demonstrated by a human teacher.