Multiple peg-in-hole compliant assembly based on a learning-accelerated deep deterministic policy gradient strategy

摘要

Purpose As complex analysis of contact models is required in the traditional assembly strategy, it is still a challenge for a robot to complete the multiple peg-in-hole assembly tasks autonomously. This paper aims to enable the robot to complete the assembly tasks autonomously and more efficiently, with the strategies learned by reinforcement learning (RL), a learning-accelerated deep deterministic policy gradient (LADDPG) algorithm is proposed. Design/methodology/approach The multiple peg-in-hole assembly strategy is designed in two modules: an advanced planning module and a bottom control module. The advanced module is completed by the LADDPG agent, which is used to derive advanced commands based on geometric and environmental constraints, that is, the desired contact force. The bottom-level control module will drive the robot to complete the compliant assembly task through the adaptive impedance algorithm according to the command set issued by the advanced module. In addition, a set of safety assurance mechanisms is developed to safely train a collaborative robot to complete autonomous learning. Findings The method can complete the assembly tasks well through RL, and it can realize satisfactory compliance of the robot to the environment. Compared with the original DDPG algorithm, the average values of the instantaneous maximum contact force and contact torque during the assembly process are reduced by approximately 38% and 74%, respectively. Practical implications The entire algorithm can also be applied to other robots and the assembly strategy can be applied in the field of the automatic assembly. Originality/value A compliant assembly strategy based on the LADDPG algorithm is proposed to complete the automated multiple peg-in-hole assembly tasks.