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A constant force surface tracking method for robots based on reinforcement learning

A technology of reinforcement learning and robotics, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of rigidity robot vibration, large fluctuations, unstable contact force between robots and curved surfaces, etc., and achieve fast convergence speed and data utilization rate high effect

Active Publication Date: 2021-07-20
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

However, the nonlinearity, time-varying and coupling characteristics of the robot in the motion process will cause uncertain factors; insufficient rigidity of the robot itself (such as reducer, open chain structure) will cause the robot to vibrate; the unknown surface profile requires the robot to adjust its own parameters. Adapt to changes in the external environment, so the contact force between the robot and the curved surface is often unstable and fluctuates greatly

Method used

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  • A constant force surface tracking method for robots based on reinforcement learning
  • A constant force surface tracking method for robots based on reinforcement learning

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Embodiment 1

[0040] A robot constant force surface tracking method based on reinforcement learning. The method is based on a robot constant force tracking platform including a six-axis industrial robot, a workbench, a curved surface workpiece, a six-dimensional force sensor, a host computer, and a data acquisition module; Velocity moves along the x direction, and when the robot is in contact with the workpiece, it shifts along the y direction according to the magnitude of the force.

[0041] Specifically include the following steps:

[0042] (1) According to the characteristics of the 6-axis industrial robot end effector in contact with the contour of the curved surface, establish the mapping relationship between the normal force of the curved surface and the known sensor coordinate system;

[0043] (2) Design an explicit force controller to control the contact process between the robot and the curved surface;

[0044] (3) Optimize the parameters of the controller (such as the PID paramet...

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Abstract

The invention discloses a robot constant force surface tracking method based on reinforcement learning, comprising the steps of: (1) establishing a mapping between the surface normal force and the known sensor coordinate system according to the characteristics of the industrial robot end effector in contact with the surface contour (2) Design an explicit force controller for the contact process between the robot and the surface; (3) Optimize the parameters of the controller using a reinforcement learning method based on Gaussian model speculation; (4) Iterate the experiment until the force and the desired force are obtained. The error is within the set range. The invention solves the problem that it is difficult to obtain a constant tracking force in the existing robot curved surface tracking, and has the advantages of not needing prior experience, high data utilization rate and fast convergence speed, and the obtained curved surface contour trajectory is provided for subsequent grinding, polishing and other processing. The initial reference trajectory.

Description

technical field [0001] The invention relates to the technical field of robot constant force control, in particular to a method for tracking a robot constant force curved surface based on reinforcement learning. Background technique [0002] The contour of the curved surface can be obtained by using the robot end effector to track the curved surface. The stable contour trajectory can provide the initial trajectory for machining, such as grinding and polishing, and reduce the workload of manual teaching. However, the nonlinearity, time-varying and coupling characteristics of the robot in the motion process will cause uncertain factors; insufficient rigidity of the robot itself (such as reducer, open chain structure) will cause the robot to vibrate; the unknown surface profile requires the robot to adjust its own parameters. To adapt to changes in the external environment, the contact force between the robot and the curved surface is often unstable and fluctuates greatly. [0...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1664
Inventor 张铁肖蒙邹焱飚肖佳栋
Owner SOUTH CHINA UNIV OF TECH
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