Micropart Assembly Method Based on Expert Demonstration and Reinforcement Learning

A technology that strengthens learning and assembly methods, and is applied in the direction of program-controlled manipulators, manufacturing tools, and manipulators. It can solve problems such as poor practicality and low learning efficiency of micro-part assembly skills, and achieve improvement effects, application prospects, and social and economic benefits. Considerable, efficiency-enhancing effect

Active Publication Date: 2022-05-24
NANJING VOCATIONAL UNIV OF IND TECH
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Problems solved by technology

[0008] In order to solve the above-mentioned problems in the prior art, that is, the low efficiency and poor practicability of the existing micro-part assembly skills learning, the present invention provides a micro-part assembly method based on expert demonstration and reinforcement learning, which includes :

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  • Micropart Assembly Method Based on Expert Demonstration and Reinforcement Learning
  • Micropart Assembly Method Based on Expert Demonstration and Reinforcement Learning
  • Micropart Assembly Method Based on Expert Demonstration and Reinforcement Learning

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Embodiment Construction

[0075] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0076] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0077] The present invention provides a micro-part assembly method based on expert demonstration and intensive learning. In the training of the micro-part assembly model, expert demonstration and intensive learning are combined to learn micro-part assembly skills, and the efficiency ...

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Abstract

The invention belongs to the field of precision assembly intelligent control, specifically relates to a micro-part assembly method based on expert demonstration and intensive learning, and aims to solve the problems of low learning efficiency and poor practicability of existing micro-part assembly skills. The invention includes: collecting the images of micro-parts a and b to adjust the posture and position of the parts, so that the postures of the parts are consistent, and the part a is directly above the part b; acquiring force information between the parts and controlling the assembly of the parts through the assembly model of the micro-parts. Micro-part assembly model training includes: training the state transition model through expert demonstration data; data enhancement of expert demonstration data; designing fuzzy return function and hybrid exploration method, and pre-training through enhanced data; the pre-trained model is in the fuzzy return function Under the guidance of the self-study, the trained micro-part assembly model is obtained. The invention has the advantages of convenient operation, strong practicability and high execution efficiency, and ensures the efficiency and safety of micro-part assembly.

Description

technical field [0001] The invention belongs to the field of precision assembly intelligent control, and in particular relates to a micro-part assembly method based on expert demonstration and reinforcement learning. Background technique [0002] With the rapid development of science and technology, Micro-Electro-Mechanical System (MEMS, Micro-Electro-Mechanical System), as a revolutionary new technology, has been more and more widely used in the fields of electronics, medicine, physics and aerospace. As the key technology of MEMS assembly, precision assembly technology has become a research hotspot in recent years. Precision assembly technology mainly covers perception, measurement and control. The development of this technology is of great significance for improving the product quality of MEMS and reducing the product production cycle. Although the existing precision assembly system can realize the automatic assembly of parts, it is difficult to meet the application requi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1687
Inventor 马燕芹谢永华周元伟
Owner NANJING VOCATIONAL UNIV OF IND TECH
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