Development of a Framework for Continual Learning in Industrial Robotics

IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 1–8

Abstract

Continual learning (CL) is a machine learning (ML) paradigm for learning continually from non-stationary data streams while simultaneously transferring and protecting past knowledge. Therefore, CL avoids catastrophic forgetting, a common problem that arises when training ML-models on new data. This paper presents a CL framework for data-driven learning of the dynamics model of a 6-degree-of-freedom serial industrial robot. This model can be used for model-based control algorithms, without the need for extensive identification of robot specific parameters such as mass inertia, and can additionally model complex effects such as friction. Furthermore, using CL, it can adapt to changes of the robot e.g., due to wear or new tasks. With the help of CL, the ML-based dynamics model is continually fed new data and improves over the operating period of the robot.

Authors 5

1. Minh Trinh Aachen Laboratory of Machine Tools

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory of Machine Tools,Aachen,Germany

   Laboratory of Machine Tools, RWTH Aachen University, Aachen, Germany

2. Lukas Grundel Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

3. Victoria Hankemeier Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

4. Simon Storms Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany

5. Christian Brecher Aachen Laboratory for Machine Tools (WZL)

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany

   Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany