Folding assembly by means of dual-arm robotic manipulation

2018 IEEE International Conference on Robotics and Automation (ICRA)

2018

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In this work, we address the dual-arm manipulation of a two degrees-of-freedom articulated object that consists of two rigid links. This can include a linkage constrained along two motion directions, or two objects in contact, where the contact imposes motion constraints. We formulate the problem as a cooperative task, which allows the employment of coordinated task space frameworks, thus enabling redundancy exploitation by adjusting how the task is shared by the robot arms. In addition, we propose a method that can estimate the joint location and the direction of the degrees-of-freedom, based on the contact forces and the motion constraints imposed by the object. Experimental results demonstrate the performance of the system in its ability to estimate the two degrees of freedom independently or simultaneously.

Section: Related Workmentioning

confidence: 99%

Section: Experimental Evaluationmentioning

confidence: 99%

Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot

2018 IEEE International Conference on Robotics and Automation (ICRA)

2018

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“…Alternatively to a master-slave approach, the Cooperative Task Space (CTS) [15] formulation specifically defines an absolute and a relative motion space along which the two 1 Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden diogoa@kth.se 2 Dept. of Electrical Eng., Chalmers University of Technology, SE-412 96 Gothenburg, Sweden yiannis@chalmers.se Fig.…”

Section: Introductionmentioning

confidence: 99%

A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution

2019 IEEE 58th Conference on Decision and Control (CDC)

2019

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Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method.

“…2) or the insertion of a battery in a remote control. In this section, we summarize part of the folding assembly model introduced in [1]. Consider two robotic manipulators, applying rigid grasps on two rigid parts.…”

Section: The Folding Assembly Taskmentioning

confidence: 99%

“…Equipping a robotic assembly system with a folding motion primitive allows it to increase the available options when facing this kind of tasks, adding robustness to the system as a whole. We showcased early results of executing folding with a simple feedback controller and a heuristic contact point computation between parts, as a proof of concept [1].…”

Section: Introductionmentioning

confidence: 99%

Bimanual folding assembly: Switched control and contact point estimation

Vina

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

2016

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Abstract-Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.