Flexible Gear Assembly with Visual Servoing and Force Feedback
Junjie Ming,Daniel Bargmann,Hongpeng Cao,Marco Caccamo,Junjie Ming,Daniel Bargmann,Hongpeng Cao,Marco Caccamo
This paper presents a vision-guided two-stage approach with force feedback to achieve high-precision and flexible gear assembly. The proposed approach integrates YOLO to coarsely localize the target workpiece in a searching phase and deep reinforcement learning (DRL) to complete the insertion. Specifically, DRL addresses the challenge of partial visibility when the on-wrist camera is too close to ...
