Fuzzy logic based reinforcement learning of admittance control for automated robotic manufacturing

S. Prabhu, D. Garg
{"title":"Fuzzy logic based reinforcement learning of admittance control for automated robotic manufacturing","authors":"S. Prabhu, D. Garg","doi":"10.1109/KES.1997.619426","DOIUrl":null,"url":null,"abstract":"An approach to admittance control using fuzzy logic based reinforcement learning is proposed for the robotic automation of typical manufacturing operations. Use of fuzzy logic enables the knowledge of the manufacturing process operator to be incorporated into the controller design, which is then further refined using reinforcement learning techniques. Automated robotic deburring offers an attractive alternative to manual deburring in terms of reduced costs and improved quality of the finished parts, and hence it is used as an example of a typical manufacturing task. Simulation results are presented which demonstrate the effectiveness of the proposed controller in controlling the automated robotic deburring task.","PeriodicalId":166931,"journal":{"name":"Proceedings of 1st International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1st International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/KES.1997.619426","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 11

Abstract

An approach to admittance control using fuzzy logic based reinforcement learning is proposed for the robotic automation of typical manufacturing operations. Use of fuzzy logic enables the knowledge of the manufacturing process operator to be incorporated into the controller design, which is then further refined using reinforcement learning techniques. Automated robotic deburring offers an attractive alternative to manual deburring in terms of reduced costs and improved quality of the finished parts, and hence it is used as an example of a typical manufacturing task. Simulation results are presented which demonstrate the effectiveness of the proposed controller in controlling the automated robotic deburring task.
基于模糊逻辑的自动化机器人导纳控制强化学习
针对典型制造作业的机器人自动化,提出了一种基于模糊逻辑强化学习的导纳控制方法。使用模糊逻辑可以将制造过程操作员的知识整合到控制器设计中,然后使用强化学习技术进一步改进。在降低成本和提高成品质量方面,自动化机器人去毛刺为人工去毛刺提供了一种有吸引力的替代方案,因此它被用作典型制造任务的示例。仿真结果表明,所提出的控制器在控制机器人自动去毛刺任务方面是有效的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信