Experiments with deep visual servoing for connector insertion
Deep learning has allowed for significant progress to be made in the world of robotics. In todays world, its applications can be seen in many fields, from medical to hospitality and many others [1]. This paper investigates the concept of deep learning and its application in robotic assembly. Buildin...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2020
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| Online Access: | https://hdl.handle.net/10356/138962 |
| _version_ | 1826122173126803456 |
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| author | Tay, Vicky |
| author2 | Pham Quang Cuong |
| author_facet | Pham Quang Cuong Tay, Vicky |
| author_sort | Tay, Vicky |
| collection | NTU |
| description | Deep learning has allowed for significant progress to be made in the world of robotics. In todays world, its applications can be seen in many fields, from medical to hospitality and many others [1]. This paper investigates the concept of deep learning and its application in robotic assembly. Building upon a past final year project, this paper also investigates the different possible combinations of features of deep learning to produce a sub-millimetre, highly accurate neural network for robotic assembly for better generalisation to new connectors and environments through various experiments. Through various rounds of experimentation, this project was able to prove that the novel architecture by the previous final year project is able to generalise well to unseen connectors with little training. Translational errors are kept below 0.5 mm in the x, y and z directions while rotational errors in the roll, pitch and yaw directions are below 0.4◦.
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| first_indexed | 2024-10-01T05:44:09Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/138962 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:44:09Z |
| publishDate | 2020 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1389622023-03-04T19:59:10Z Experiments with deep visual servoing for connector insertion Tay, Vicky Pham Quang Cuong School of Mechanical and Aerospace Engineering Robotics Research Centre Huy Nguyen Dinh cuong@ntu.edu.sg; huy.nguyendinh09@gmail.com Engineering::Aeronautical engineering Deep learning has allowed for significant progress to be made in the world of robotics. In todays world, its applications can be seen in many fields, from medical to hospitality and many others [1]. This paper investigates the concept of deep learning and its application in robotic assembly. Building upon a past final year project, this paper also investigates the different possible combinations of features of deep learning to produce a sub-millimetre, highly accurate neural network for robotic assembly for better generalisation to new connectors and environments through various experiments. Through various rounds of experimentation, this project was able to prove that the novel architecture by the previous final year project is able to generalise well to unseen connectors with little training. Translational errors are kept below 0.5 mm in the x, y and z directions while rotational errors in the roll, pitch and yaw directions are below 0.4◦. . Bachelor of Engineering (Aerospace Engineering) 2020-05-14T06:04:42Z 2020-05-14T06:04:42Z 2020 Final Year Project (FYP) https://hdl.handle.net/10356/138962 en C015 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Aeronautical engineering Tay, Vicky Experiments with deep visual servoing for connector insertion |
| title | Experiments with deep visual servoing for connector insertion |
| title_full | Experiments with deep visual servoing for connector insertion |
| title_fullStr | Experiments with deep visual servoing for connector insertion |
| title_full_unstemmed | Experiments with deep visual servoing for connector insertion |
| title_short | Experiments with deep visual servoing for connector insertion |
| title_sort | experiments with deep visual servoing for connector insertion |
| topic | Engineering::Aeronautical engineering |
| url | https://hdl.handle.net/10356/138962 |
| work_keys_str_mv | AT tayvicky experimentswithdeepvisualservoingforconnectorinsertion |