Remote machine two-arm system with imitation learning mechanism and method

A learning mechanism and mechanical technology, applied in the field of intelligent robots, can solve problems such as limited operating range, achieve the effects of expanding operating space, enriching operating performance, and reducing development costs

Active Publication Date: 2018-07-17
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, during the operation of the robotic arm, its operating range is also limited.

Method used

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  • Remote machine two-arm system with imitation learning mechanism and method
  • Remote machine two-arm system with imitation learning mechanism and method
  • Remote machine two-arm system with imitation learning mechanism and method

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Experimental program
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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] figure 1 It is the structural diagram of the remote mechanical double arm with imitation learning mechanism involved in the present invention. It mainly includes: a platform bottom plate, which serves as a stable base for the entire mechanical structure. A pillar and a beam are the support between the mechanical dual arm structure and the platform floor. The DHV828 digital steering gear is distributed between the connecting rods or at the end of the connecting rods to form the joints of the mechanical arms, and together with the connecting rods constitute the left and right arms of the robotic arm, which is similar to the distribution of human arms.

[0045] figure 2 It is a block diagram of the remote mechanical dual-arm system. The remote mechanical dual-arm system consists of five parts, including a teaching module, a perception module, a learning module...

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Abstract

The invention discloses a remote machine two-arm system with an imitation learning mechanism and a method. The remote machine two-arm system comprises a demonstrator teaching module, a self-designed action executing module composed of two humanoid machine arms and a digital rudder controller, an XBOX360 body sensor perception module, a remote upper computer communication module and an imitation learning algorithm study module. The module independent power supply mode is adopted, demonstrators do demonstration actions in front of an XBOX360 sensor, the XBOX360 is used for collecting action dataof the demonstrators, and data processing is conducted on a local upper computer (server side); learning is performed through an imitation learning algorithm, and real-time communication is achievedthrough the server side and a remote upper computer (client side); and then the remote client side sends the data to the controller in real time through a serial port, and the controller receiving thedata is used for guiding the two machine arms to imitate and learn the teaching actions of the demonstrators. By means of the remote machine two-arm system with the imitation learning mechanism and the method, machine arm operation intelligence is improved; and meanwhile, operation efficiency of the machine arms in a dangerous space is greatly improved and actual application significance is realized.

Description

technical field [0001] The invention relates to a remote mechanical double-arm system and method with an imitation learning mechanism, belonging to the field of intelligent robots. Background technique [0002] Nowadays, the range of applications of robotic arms is more and more extensive. From traditional processing and manufacturing to the medical industry, from dangerous operations to outer space exploration, robotic arms play an important role. It can be said that the application of robotic arms has penetrated into many fields and directly affects all aspects of modern human life. . With the improvement of the intelligent requirements of the robotic arm, the robotic arm is getting closer to people. The intelligent problem of the robotic arm lies in how to adapt to the new environment independently, how to learn new skills independently, and how to improve the ability of autonomous operation. To achieve this requirement, the imitation learning control of the manipulator...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/22B25J9/16B25J15/04B25J19/02
CPCB25J9/0081B25J9/16B25J9/163B25J15/04B25J19/02
Inventor 于建均吴鹏申于乃功阮晓钢张远姚红柯
Owner BEIJING UNIV OF TECH
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