ABSTRACT There is a growing need for adaptive robotic assembly systems that are fast to setup and reprogram when new products are introduced. The World Robot Challenge at World Robot Summit 2018 was centered around the challenge of setting up a flexible robotic assembly system aiming at changeover times below 1 day. This paper presents a method for programming robotic assembly tasks that was initiated in connection with the World Robot Challenge that enables fast and easy setup of robotic insertion tasks. We propose to program assembly tasks by demonstration, but instead of using the taught behavior directly, the demonstration is merged with assembly primitives to increase robustness. In contrast to other programming by demonstration approaches, we perform not only one demonstration but a sequence of four sub-demonstrations that are used to extract the desired robot trajectory in addition to parameters for the assembly primitive. The proposed assembly strategy is compared to a standard dynamic movement primitive and experiments show that the proposed assembly strategy increases the robustness towards pose uncertainties and significantly reduces the applied forces during the execution of the assembly task. GRAPHICAL ABSTRACT

中文翻译：

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轻松设置机器人装配任务

摘要 对自适应机器人装配系统的需求不断增长，这些系统在推出新产品时可以快速设置和重新编程。2018 年世界机器人峰会的世界机器人挑战赛围绕建立灵活的机器人装配系统的挑战展开，目标是将转换时间缩短到 1 天以内。本文介绍了一种编程机器人装配任务的方法，该方法是与世界机器人挑战赛相关的，可以快速轻松地设置机器人插入任务。我们建议通过演示对组装任务进行编程，但不是直接使用教授的行为，而是将演示与组装原语合并以提高鲁棒性。与通过演示方法的其他编程相比，我们不仅执行一个演示，而且执行一系列四个子演示，用于提取所需的机器人轨迹以及装配原语的参数。将所提出的装配策略与标准的动态运动原语进行比较，实验表明，所提出的装配策略增加了对姿势不确定性的鲁棒性，并显着减少了执行装配任务期间施加的力。图形概要