Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral
Autonomous planning robotic contact-rich manipulation has long been a challenging problem. Automatic peeling of glass substrates of LCD flat panel displays is a typical contact-rich manipulation task, which requires extremely high safe handling through the manipulation process. To this end of peelin...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/3/1292 |
| _version_ | 1797484561446207488 |
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| author | Liwei Hou Hengsheng Wang Haoran Zou Yalin Zhou |
| author_facet | Liwei Hou Hengsheng Wang Haoran Zou Yalin Zhou |
| author_sort | Liwei Hou |
| collection | DOAJ |
| description | Autonomous planning robotic contact-rich manipulation has long been a challenging problem. Automatic peeling of glass substrates of LCD flat panel displays is a typical contact-rich manipulation task, which requires extremely high safe handling through the manipulation process. To this end of peeling glass substrates automatically, the system model is established from data and is used for the online planning of the robot motion in this paper. A simulation environment is designed to pretrain the process model with deep learning-based neural network structure to avoid expensive and time-consuming collection of real-time data. Then, an online learning algorithm is introduced to tune the pretrained model according to the real-time data from the peeling process experiments to cover the uncertainties of the real process. Finally, an Online Learning Model Predictive Path Integral (OL-MPPI) algorithm is proposed for the optimal trajectory planning of the robot. The performance of our algorithm was validated through glass substrate peeling tasks of experiments. |
| first_indexed | 2024-03-09T23:06:08Z |
| format | Article |
| id | doaj.art-ad660b38df894d26ac0534b7eea07877 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T23:06:08Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ad660b38df894d26ac0534b7eea078772023-11-23T17:53:35ZengMDPI AGSensors1424-82202022-02-01223129210.3390/s22031292Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path IntegralLiwei Hou0Hengsheng Wang1Haoran Zou2Yalin Zhou3College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaCollege of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaCollege of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaCollege of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaAutonomous planning robotic contact-rich manipulation has long been a challenging problem. Automatic peeling of glass substrates of LCD flat panel displays is a typical contact-rich manipulation task, which requires extremely high safe handling through the manipulation process. To this end of peeling glass substrates automatically, the system model is established from data and is used for the online planning of the robot motion in this paper. A simulation environment is designed to pretrain the process model with deep learning-based neural network structure to avoid expensive and time-consuming collection of real-time data. Then, an online learning algorithm is introduced to tune the pretrained model according to the real-time data from the peeling process experiments to cover the uncertainties of the real process. Finally, an Online Learning Model Predictive Path Integral (OL-MPPI) algorithm is proposed for the optimal trajectory planning of the robot. The performance of our algorithm was validated through glass substrate peeling tasks of experiments.https://www.mdpi.com/1424-8220/22/3/1292glass substrate peelingmanipulation planningsystem modeldeep learningonline learningModel Predictive Path Integral |
| spellingShingle | Liwei Hou Hengsheng Wang Haoran Zou Yalin Zhou Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral Sensors glass substrate peeling manipulation planning system model deep learning online learning Model Predictive Path Integral |
| title | Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral |
| title_full | Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral |
| title_fullStr | Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral |
| title_full_unstemmed | Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral |
| title_short | Robotic Manipulation Planning for Automatic Peeling of Glass Substrate Based on Online Learning Model Predictive Path Integral |
| title_sort | robotic manipulation planning for automatic peeling of glass substrate based on online learning model predictive path integral |
| topic | glass substrate peeling manipulation planning system model deep learning online learning Model Predictive Path Integral |
| url | https://www.mdpi.com/1424-8220/22/3/1292 |
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