An Approach to Automatic Robot Programming Based on Inductive Learning

An Approach to Automatic Robot Programming Based on Inductive Learning
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基于归纳学习的机器人自动编程方法

DOI：
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发表时间：
1984
期刊：
影响因子：
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通讯作者：
J. Latombe
J. Latombe
中科院分区：
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文献类型：
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作者：
Bruno Dufay;J. Latombe

文献摘要

被引文献

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机械臂机器人的自动编程在机械装配领域引起了越来越多的关注。本文主要研究两部分的匹配问题，该问题需要基于传感器的策略来处理几何不确定性。我们提出了一个系统，体现了一个两阶段的方法来建立机器人程序实现这样的策略。首先，训练阶段与机器人执行器和传感器相互作用，并产生执行给定零件配合操作的痕迹。接下来，纯粹的计算归纳阶段将这些跟踪转换为操作的可执行操纵程序级程序。嵌入该方法的系统已经完全实现，并在多个装配任务中进行了实验应用。
Automatic programming of manipulator robots attracts in creasing interest within the context of mechanical assembly. In this paper we focus on the problem of mating two parts, which requires sensor-based strategies to deal with geometric uncertainty. We present a system that embodies a two-phase approach to build robot programs implementing such strate gies. First a training phase interacts with the robot actuators and sensors and produces traces of execution of a given part- mating operation. Next a purely computational induction phase transforms these traces into an executable manipula tor-level program for the operation. The system embedding this approach has been completely implemented, and it has been used experimentally on several assembly tasks.