Programming by demonstration of the sequence of tightening a nut allowing variations in tool position

Hoyos-Gutiérrez, José G.; Prieto-Ortiz, Flavio A.

Programación por demostración de la secuencia de apretar una tuerca admitiendo variaciones en posición de la llave

dc.creator	Hoyos-Gutiérrez, José G.
dc.creator	Prieto-Ortiz, Flavio A.
dc.date	2016-01-30
dc.date.accessioned	2021-03-18T21:06:43Z
dc.date.available	2021-03-18T21:06:43Z
dc.identifier	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/589
dc.identifier	10.22430/22565337.589
dc.identifier.uri	http://test.repositoriodigital.com:8080/handle/123456789/11679
dc.description	A technique of programming by demonstration of a robot is proposed. Such a technique allows that a robot execute sequential or complex tasks. It uses a combination of Petri nets and task parameterized Gaussian mixture models. The first one handles the task sequence, while the second one allows variations in the position and orientation of objects involved in the task. Using a segmentation task technique, the demonstration is chunked in subtasks. With the subtasks sequence, an action list or plan is obtained and with this, a Petri net is automatically generate. Models of the templates of each subtasks and task parameterized Gaussian mixture models of the subtask that we want to allow variations are also provide to the technique. A function compare one each of the template trajectory with the task parameterized model response trajectory and the most similar indicate that instead of the template, the task parameterized model is use. Through the use of a homemade robot, which executes the task of tightening a nut, the performance of the technique is illustrated by using figures.	en-US
dc.description	Se presenta una técnica que permite la programación por demostración de un robot para que ejecute una tarea secuencial o compleja. Se utiliza una combinación de redes de Petri y modelos de mezcla de gaussianas parametrizado en la tarea; con la primera se coordina la secuencia de la tarea, en tanto que la segunda permite variaciones en la posición y orientación de los objetos de la misma. Una técnica de segmentación de tareas, descompone la demostración en subtareas. Con la secuencia de las subtareas, se obtiene una lista de acciones (plan) y con este se genera de manera automática una red de Petri. A la técnica también se le suministran las plantillas modelo de cada subtarea y los modelos de mezcla de gaussianas parametrizados en la tarea de las trayectorias de la subtarea que se quiere que admita variaciones. Una función compara las trayectorias de cada plantilla con las trayectorias repuesta del modelo, y la de mayor similitud indica que en vez de la plantilla, se debe emplear el modelo de mezcla parametrizado. Mediante el uso de un robot de fabricación propia, el cual ejecuta la tarea de tomar, transportar una llave y apretar una tuerca, se ilustra el desempeño de la técnica a través de gráficas.	es-ES
dc.format	application/pdf
dc.language	spa
dc.publisher	Instituto Tecnológico Metropolitano (ITM)	en-US
dc.relation	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/589/616
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dc.rights	Copyright (c) 2017 Tecno Lógicas	en-US
dc.source	TecnoLógicas; Vol. 19 No. 36 (2016); 77-90	en-US
dc.source	TecnoLógicas; Vol. 19 Núm. 36 (2016); 77-90	es-ES
dc.source	2256-5337
dc.source	0123-7799
dc.subject	Robot programming by demonstration	en-US
dc.subject	Task segmentation	en-US
dc.subject	Complex tasks	en-US
dc.subject	Task parameterized Gaussian Mixture model	en-US
dc.subject	Petri nets	en-US
dc.subject	Programación por demostración de robots	es-ES
dc.subject	segmentación de tareas	es-ES
dc.subject	tareas complejas	es-ES
dc.subject	modelo de mezcla de gaussianas parametrizado en la tarea	es-ES
dc.subject	redes de Petri	es-ES
dc.title	Programming by demonstration of the sequence of tightening a nut allowing variations in tool position	en-US
dc.title	Programación por demostración de la secuencia de apretar una tuerca admitiendo variaciones en posición de la llave	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	Research Papers	en-US
dc.type	Artículos de investigación	es-ES

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