Assembly Task Learning and Optimization through Human’s Demonstration and Machine Learning

摘要

Robots are increasingly exploited in production plants, with the need to learn and to adapt themselves to new tasks. This paper focuses on the investigation of machine learning techniques to make a sensorless robot able to learn and optimize an industrial assembly task. Relying on sensorless Cartesian impedance control, a task-trajectory learning algorithm exploiting a limited number of human's demonstrations (based on Hidden Markov Model), and an autonomous optimization procedure (based on Bayesian Optimization) are proposed to learn and optimize the assembly task. To validate the proposed methodology, an assembly task of a gear into its square-section shaft has been considered. A Franka EMIKA Panda manipulator has been used as a test platform. The experiments show the effectiveness of the proposed strategy, making the robot able to learn and optimize its behaviour to accomplish the assembly task, even in the presence of uncertainties.