DOI:
https://doi.org/10.14483/22484728.13996Publicado:
2018-10-27Número:
Vol. 12 Núm. 2 (2018)Sección:
Visión InvestigadoraRed neuronal convolucional para discriminar herramientas en robótica asistencial
Convolutional neural network for discrimination of tools for assistance robotics
Palabras clave:
machine learning, deep learning, pattern recognition, CNN, assisted robotics, machine vision (en).Palabras clave:
aprendizaje de máquina, aprendizaje profundo, reconocimiento de patrones, RNC, robótica asistencial, visión de máquina (es).Descargas
Resumen (es)
En el presente artículo se expone el entrenamiento de una Red Neuronal Convolucional (RNC) para discriminación de herramientas de uso común en tareas de mecánica, electricidad, carpintería y similares. Para el caso, se toman como objetivos de entrenamiento pinzas, destornilladores, tijeras y alicates, los cuales puedan ser identificados por la red, y permite dotarle a un brazo robótico la facultad de identificar una herramienta deseada - de entre las anteriores - para su posible entrega a un usuario. La arquitectura neuro convolucional empleada para la red presenta un porcentaje de acierto del 96% en la identificación de las herramientas entrenadas.
Resumen (en)
In the present article, the training of a Convolutional Neuronal Network (CNN) for discrimination of tools commonly used in mechanical, electrical, carpentry and similar tasks, is exposed. For this purpose, training objectives include nippers, screwdrivers, scissors and pliers, in order to be classified by the network, allowing a robotic arm to identify a desired tool for its possible delivery to a user. The CNN architecture used for the network presents a 96% success rate in the identification of tools
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