For smart manufacturing, an automated robotic assembly system built upon an autoprogramming environment is necessary to reduce setup time and cost for robots that are engaged in frequent task reassignment. This article presents an approach to the autoprogramming of robotic assembly tasks with minimal human assistance. The approach integrates “robotic learning of assembly tasks from observation” and “robotic embodiment of learned assembly tasks in the form of skills.” In the former, robots observe human assembly operations to learn a sequence of assembly tasks, which is formalized into a human assembly script. The latter transforms the human assembly script into a robot assembly script in which a sequence of robot-executable assembly tasks are defined based on action planning supported by workspace modeling and simulated retargeting. The assembly tasks, in the form of the robot assembly script, are then implemented via pretrained robot skills. These skills aim to enable robots to execute difficult tasks that involve inherent uncertainties and variations. We validate the proposed approach by building a prototype of the automated robotic assembly system for a power breaker and an electronic set-top box. The results verify that the proposed automated robotic assembly system is not only feasible but also viable, as it is associated with a dramatic reduction in the human effort required for automating robotic assembly.

中文翻译：

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基于学习的智能装配机器人组装自动化

对于智能制造，必须建立在自动编程环境上的自动化机器人组装系统，以减少参与频繁任务重新分配的机器人的设置时间和成本。本文介绍了一种使用最少的人工协助即可对机器人装配任务进行自动编程的方法。该方法集成了“从观察中学习组装任务的机器人学习”和“以技能形式学习的组装任务的机器人体现”。在前者中，机器人通过观察人工装配操作来学习一系列装配任务，并将其形式化为人工装配脚本。后者将人工装配脚本转换为机器人装配脚本，在其中，根据工作空间建模和模拟重定目标所支持的动作计划，定义了一系列机器人可执行装配任务。然后，通过机器人组装脚本以机器人组装脚本的形式执行组装任务。这些技能旨在使机器人能够执行涉及固有不确定性和变化的困难任务。我们通过为断路器和电子机顶盒构建自动化机器人组装系统的原型来验证所提出的方法。结果证实了所提出的自动化机器人组装系统不仅可行而且可行，因为它与自动化机器人组装所需的人力显着减少相关。我们通过为断路器和电子机顶盒构建自动化机器人组装系统的原型来验证所提出的方法。结果证实了所提出的自动化机器人组装系统不仅可行而且可行，因为它与自动化机器人组装所需的人力显着减少相关。我们通过为断路器和电子机顶盒构建自动化机器人组装系统的原型来验证所提出的方法。结果证实了所提出的自动化机器人组装系统不仅可行而且可行，因为它与自动化机器人组装所需的人力显着减少相关。