The purpose of this paper is to introduce a new framework for training and testing Reinforcement Learning (RL) algorithms for robotic unscrewing tasks. The paper investigates current disassembly technologies through a state-of-the-art analysis, and the basic concepts of reinforcement learning are studied. A comparable framework exists as an extension for OpenAI gym called Gym-Gazebo, which is tested and analysed. Based on this analysis, a design for a new framework is made to specifically support unscrewing operations in robotics disassembly of electronics waste. The proposed simulation architecture uses ROS as data middleware, Gazebo (with the ODE physics solver) for simulating the robot environment, and MoveIt as a controller. The Gazebo simulation consists of a minimalistic setup in order to stay focused on the architecture and usability of the framework. The simulation world interfaces with the RL-agent, using OpenAI Gym and ROS-topics, which can be adapted to interface with a real robot. Lastly, the work demonstrates the functionality of the system by implementing an application example using a Q-learning algorithm, and the results of this are presented. ; The purpose of this paper is to introduce a new framework for training and testing Reinforcement Learning (RL) algorithms for robotic unscrewing tasks. The paper investigates current disassembly technologies through a state-of-the-art analysis, and the basic concepts of reinforcement learning are studied. A comparable framework exists as an extension for OpenAI gym called Gym-Gazebo, which is tested and analysed. Based on this analysis, a design for a new framework is made to specifically support unscrewing operations in robotics disassembly of electronics waste. The proposed simulation architecture uses ROS as data middleware, Gazebo (with the ODE physics solver) for simulating the robot environment, and MoveIt as a controller. The Gazebo simulation consists of a minimalistic setup in order to stay focused on the architecture and usability of the ...
Towards a Robot Simulation Framework for E-waste Disassembly Using Reinforcement Learning
2019-01-01
Brohus Kristensen , C , Arentz Sørensen , F , Bjørn Dalgaard Brandt Nielsen , H , Søndergaard Andersen , M , Poll Bendtsen , S & Bøgh , S 2019 , Towards a Robot Simulation Framework for E-waste Disassembly Using Reinforcement Learning . in 29th International Conference on Flexible Automation and Intelligent Manufacturing : FAIM 2019 . vol. 38 , Elsevier , Procedia Manufacturing , pp. 225-232 , 29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019) , Limerick , Ireland , 24/06/2019 . https://doi.org/10.1016/j.promfg.2020.01.030
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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