Programming by demonstration of the sequence of tightening a nut allowing variations in tool position
Journal Title: TecnoLógicas - Year 2016, Vol 19, Issue 36
Abstract
A technique of programming by demonstration of a robot is proposed. Such a technique allows that a robot execute sequential or complex tasks. It uses a combination of Petri nets and task parameterized Gaussian mixture models. The first one handles the task sequence, while the second one allows variations in the position and orientation of objects involved in the task. Using a segmentation task technique, the demonstration is chunked in subtasks. With the subtasks sequence, an action list or plan is obtained and with this, a Petri net is automatically generate. Models of the templates of each subtasks and task parameterized Gaussian mixture models of the subtask that we want to allow variations are also provide to the technique. A function compare one each of the template trajectory with the task parameterized model response trajectory and the most similar indicate that instead of the template, the task parameterized model is use. Through the use of a homemade robot, which executes the task of tightening a nut, the performance of the technique is illustrated by using figures.
Authors and Affiliations
José G. Hoyos-Gutiérrez, Flavio A. Prieto-Ortiz
Keywords
Related Articles
- EP ID EP401827
- DOI 10.22430/22565337.589
- Views 92
- Downloads 0
Visual in-plane positioning of a Labeled target with subpixel Resolution: basics and application
Vision is a convenient tool for position measurements. In this paper, we present several applications in which a reference pattern can be defined on the target for a priori knowledge of image features and...
Collaborative work as a didactic strategy for teaching/learning programming: a systematic literature review
The incorporation of Collaborative Work into programming courses has been identified as a potential strategy that could maximize student participation and have a positive impact on learning. In the...
A control system for reducing the hydrogen consumption of PEM fuel cells under parametric uncertainties
This paper presents a control system for reducing the hydrogen consumption for a Polymer Electrolyte Membrane fuel cell, also considering parametric uncertainties. The control system is based on a non-linear state space...
Prostasomas: search of biomarkers for the early detection of prostate cancer
Prostate cancer is the second most diagnosed disease in men worldwide, with an increasing mortality rate in recent years. Currently, there are two early detection tests, the measurement of blood levels of prostate-specif...
Implementation of an analytical formulation for LEMP to assess the lightning performance of a distribution line
This paper presents the implementation of an analytical formulation to calculate the lightning electromagnetic pulse (LEMP) assuming a current wave-shape linearly rising with flat top and a transmission Line (TL) return-...