DMP-based robot bolt screwing method and system

A robot and bolt technology, applied in the field of machine learning, can solve problems such as incomplete data, achieve strong coding ability and noise processing ability, and facilitate skill learning and reconstruction

Active Publication Date: 2021-05-28
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing research on robotic bolt screwing skills is rare, and the data are incomplete

Method used

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  • DMP-based robot bolt screwing method and system
  • DMP-based robot bolt screwing method and system
  • DMP-based robot bolt screwing method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] This embodiment discloses a DMP-based robot bolt screwing method. The DMP-based robot bolt screwing skill learning method is mainly to teach and code the robot's screwing path during the process of the robot screwing a bolt. and the process of generalization. Firstly, the long bolt locking process is segmented into five stages to understand the characteristics of the screwing force at different stages. Based on DMP, the screwing trajectory of the first four stages is taught and learned and Generalization, so that the robot can learn the skill of screwing bolts.

[0037] The process of bolt screwing can be mainly divided into five stages, one way to visualize this process is by plotting the applied torque against the total rotation angle to produce a torque angle curve, as figure 1 shown. The first stage is the first section of the curve, which is the initial contact stage of the bolt and nut. This process is mainly the process of the bolt and nut just contacting and th...

Embodiment 2

[0104] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the method in the first embodiment above is implemented. specific steps.

Embodiment 3

[0106] The purpose of this embodiment is to provide a computer-readable storage medium.

[0107] A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, specific steps for implementing the method in Example 1 are executed.

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PUM

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Abstract

The invention provides a DMP-based robot bolt screwing method and system. The DMP-based robot bolt screwing method comprises the steps of obtaining a plurality of teaching screwing trajectories through multiple times of dragging teaching; preprocessing teaching screwing trajectory data, conducting feature extraction on trajectory information, and selecting a most smooth trajectory from the plurality of teaching trajectories as an initial point and a target point of a DMP; transmitting the fitted trajectory to a DMP model for learning, and storing the learned weight parameters to obtain an optimization model; and aiming at a screwing starting point and a screwing end point of a bolt to be screwed, automatically planning a screwing path by utilizing the optimization model. According to the method, a new screwing starting point and a new screwing ending point are input, a mechanical arm automatically plans the screwing path, and learning and generalization of screwing skills are achieved.

Description

technical field [0001] The disclosure belongs to the technical field of machine learning, and in particular relates to a DMP-based robot bolt screwing method and system. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] The current situation and difficulties of bolt screwing: Thread fastening is very common in modern industrial production. With the increase in the demand for automation in the manufacturing industry, the demand for automatic thread fastening systems is also increasing. There are various types of bolts when screwing threads, and different torques required at different stages when long bolts are locked. Therefore, the research on robotic bolt screwing systems is becoming more and more important. When the robot is screwing the bolt, it is necessary to keep the end of the bolt horizontal and monitor the torque during the screwi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B23P19/06
CPCB25J9/1664B25J9/163B23P19/06
Inventor 宋锐赵曼李凤鸣王艳红田新诚周乐来吴疆
Owner SHANDONG UNIV
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