Robotic peg-in-hole assembly strategy research based on SARSA algorithm

被引：0

作者：

Li S. ^{[1
]}

Yuan X. ^{[1
]}

Niu J. ^{[2
,3
,4
]}

机构：

[1] Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, Guangxi University, Nanning

[2] Hunan Provincial Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha

[3] Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory, Changsha

[4] State Grid Corporation of China, Beijing

来源：

Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2023年 / 29卷 / 11期

关键词：

admittance controller; peg-in-hole assembly; reinforcement learning; robot compliance control;

D O I：

10.13196/j.cims.2022.0435

中图分类号：

学科分类号：

摘要：

To solve the problem of uncertain pose (position and pose) of peg and hole for improving the success rate, efficiency, and generalization ability of robot assembly operation, a variable admittance control strategy based on SARSA algorithm was proposed. The mechanism of peg-in-hole assembly was analyzed to guide the design of motion control strategy. Then, the different admittance parameters were analyzed by a series of simulations to obtain the controller parameters. In addition, an action evaluation method combining the displacement in each step and insertion depth was established to solve the problem of complex reward establishment in the assembly process. Meanwhile, qualification trace function is introduced to enhance learning efficiency of SARSA algorithm. Three sets of assembly experiments were implemented on the real robot. The improvement of success rate and efficiency could be verified by position and admittance control experiments. The performance of generalization ability was also validated through experiments in different initial pose. The results indicated that the proposed algorithm could solve the problem of the uncertain pose of peg and hole in the assembly task. © 2023 CIMS. All rights reserved.

引用

页码：3669 / 3680

页数：11

共 19 条

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