TY - GEN
T1 - Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile
AU - Nemec, B.
AU - Abu-Dakka, F.J.
AU - Ridge, B.
AU - Ude, A.
AU - Jørgensen, J.A.
AU - Savarimuthu, T.R.
AU - Jouffroy, J.
AU - Petersen, H.G.
AU - Kruger, N.
PY - 2013
Y1 - 2013
N2 - In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes.
AB - In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes.
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-84899427179&partnerID=MN8TOARS
U2 - 10.1109/ICAR.2013.6766568
DO - 10.1109/ICAR.2013.6766568
M3 - Conference contribution to proceeding
BT - 2013 16th International Conference on Advanced Robotics, ICAR 2013
ER -