Year: 2024
Type: article
Abstract: The demand for flexible automation in manufacturing has increased, incorporating vision-guided systems for object grasping. However, a key challenge is in-hand error, where discrepancies between the actual and estimated positions of an object in the robot’s gripper impact not only the grasp but also subsequent assembly stages. Corrective strategies used to compensate for misalignment can increase cycle times or rely on pre-labeled datasets, offline training, and validation processes, delaying deployment and limiting adaptability in dynamic industrial environments. Our main contribution is an online self-supervised learning method that automates data collection, training, and evaluation in real time, eliminating the need for offline processes. Building on this, our system collects real-time data during each assembly cycle, using corrective strategies to adjust the data and autonomously labeling them via a self-supervised approach. It then builds and evaluates multiple regression models through an auto machine learning implementation. The system selects the best-performing model to correct the misalignment and dynamically chooses between corrective strategies and the learned model, optimizing the cycle times and improving the performance during the cycle, without halting the production process. Our experiments show a significant reduction in the cycle time while maintaining the performance.
Source: Robotics
Authors: Sergio Valdés, Marco Ojer, Xiao Lin
Institutions: Vicomtech, University of the Basque Country
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,046
Funder: European Commission
OpenAlex ID: W4405934392