NDLI: Online parameter optimization in robotic force controlled assembly processes

Content Provider	IEEE Xplore Digital Library
Author	Hongtai Cheng Heping Chen
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng. & Autom., North East Univ., Shenyang, China (Hongtai Cheng) \|\| Ingram Sch. of Eng., Texas State Univ., San Marcos, TX, USA (Heping Chen)
Abstract	In the high precision robotic assembly processes, the process parameters have to be tuned in order to adapt to variations and satisfy the performance requirements. However, because of the modeling difficulty and low efficiency of the existing solutions, this task is usually performed offline. In this paper, an online parameter optimization method is developed. Gaussian Process Regression(GPR) is utilized to model the relationship between the process parameters and system performance. The GPR surrogated Bayesian Optimization Algorithm(GPRBOA) is proposed to optimize the process parameters. To reduce the risk of converging to a local minimum, a random variation factor is added to the Lower Confidence Bound(LCB) acquisition function to balance the exploration and exploitation processes. To deal with the computational burden of GPR, a switching criterion is proposed to coordinate the optimization process and production process to reduce the computational complexity. Experiments were performed using a peg-in-hole process. The experimental results verify the effectiveness of the proposed algorithm and demonstrate its efficiency and accuracy compared to Design Of Experiment(DOE) methods. The proposed method is the first attempt of model-driven assembly process parameter optimization and will generate big economic impact.
Starting Page	3465
Ending Page	3470
File Size	1261427
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907358
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization Assembly Force Valves Ground penetrating radar Robots Computational modeling
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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