Purpose
This paper aims to enable the robot to obtain human-like compliant manipulation skills for the peg-in-hole (PiH) assembly task by learning from demonstration.
Design/methodology/approach
A modified dynamic movement primitives (DMPs) model with a novel hybrid force/position feedback in Cartesian space for the robotic PiH problem is proposed by learning from demonstration. To ensure a compliant interaction during the PiH insertion process, a Cartesian impedance control approach is used to track the trajectory generated by the modified DMPs.
Findings
The modified DMPs allow the robot to imitate the trajectory of demonstration efficiently and to generate a smoother trajectory. By taking advantage of force feedback, the robot shows compliant behavior and could adjust its pose actively to avoid a jam. This feedback mechanism significantly improves the dynamic performance of the interactive process. Both the simulation and the PiH experimental results show the feasibility and effectiveness of the proposed model.
Originality/value
The trajectory and the compliant manipulation skill of the human operator can be learned simultaneously by the new model. This method adopted a modified DMPs model in Cartesian space to generate a trajectory with a lower speed at the beginning of the motion, which can reduce the magnitude of the contact force.
Flexible snake-like robot is the research frontier of minimally invasive surgical robot system. In this paper, we discussed the structure of a notched continuum flexible snake-like robot. According to the constant curvature hypothesis, the kinematics model has been established, and its workspace was estimated. When the robot has equal stiffness,due to the effect of internal and external factors, the deformation does not reach the arc state. In order to improve the deformation, and make closer to the arc, we use the method of changing the stiffness of Robot in structure. Verification by finite element analysis and experiment,the results show that the notch continuum flexible snake-like robot variable stiffness makes the deformation is closer to the / 2 l arc, it is proved that the effectiveness of the improved snake robot is verified.
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