Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5128666 | Procedia Manufacturing | 2017 | 9 Pages |
Abstract
In this paper, we address the problem of deploying a wire along a specific path selected by an unskilled user. The robot has to learn the selected path and pass a wire through the peg table by using the same tool. The main contribution regards the hybrid use of Cartesian positions provided by a learning procedure and joint positions obtained by inverse kinematics and motion planning. Some constraints are introduced to deal with non-rigid material without breaks or knots. We took into account a series of metrics to evaluate the robot learning capabilities, all of them over performed the targets.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Francesca Stival, Stefano Michieletto, Enrico Pagello,