Reinforcement Learning With Stereo-View Observation for Robust Electronic Component Robotic Insertion
Grzegorz Bartyzel,
Wojciech Półchłopek,
Dominik Rzepka
Abstract:In modern manufacturing, assembly tasks are a major challenge for robotics. In the manufacturing industry, a wide range of insertion tasks can be found, from peg-in-hole insertion to electronic parts assembly. Robotic stations designed for this problem often use conventional hybrid force-position control to perform preprogrammed trajectories, such as e.g. a spiral path. However, electronic parts require more sophisticated techniques due to their complex geometry and susceptibility to damage. Production line as… Show more
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