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Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning

Rodriguez Brena, Ismael Valentin and Nottensteiner, Korbinian and Leidner, Daniel and Durner, Maximilian and Stulp, Freek and Albu-Schäffer, Alin Olimpiu (2020) Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning. IEEE Robotics and Automation Letters, 5 (2), pp. 3666-3673. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2979622. ISSN 2377-3766.

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The autonomous assembly of customized products is highly demanded in future manufacturing scenarios. This requires robotic systems being able to adapt to individual products without increasing overall production time. However, increasingly complex assemblies lead to a growing number of potential assembly sequences that have to be considered. To cope with this, we present an algorithm that is able to transfer previously identified assembly constraints to novel product variants. This reduces the search space, and thus planning times. The approach consist of three main steps. 1) Deduct semantic assembly constraints, from an analysis of feasible and unfeasible solutions. 2) Match key features of assemblies on a semantic level, by performing graph matching in the representation of the assemblies. 3) Use pattern recognition and classification based on machine learning techniques to transfer the knowledge of constraints for sub-assemblies into the complete assembly. We demonstrate our contributions on a two-armed robotic setup that assembles product variants out of aluminum profiles.

Item URL in elib:https://elib.dlr.de/135368/
Document Type:Article
Title:Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Rodriguez Brena, Ismael ValentinUNSPECIFIEDhttps://orcid.org/0000-0002-2310-9186UNSPECIFIED
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115817
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3666-3673
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Assembly, Intelligent and Flexible Manufacturing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Rodriguez Brena, Ismael Valentin
Deposited On:24 Jun 2020 16:41
Last Modified:11 Sep 2023 13:23

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