Intuitive dual arm robot programming for assembly operations

Makris, Sotiris; Tsarouchi, Panagiota; Šurdilović, Dragoljub; Krüger, Jörg

doi:10.1016/j.cirp.2014.03.017

Cited by 84 publications

(25 citation statements)

References 7 publications

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“…Dual-arm robots can enhance human-robot interaction for augmenting human capabilities [11] and the way a robot is programmed can be simplified via the introduction of high level semantics [12]. In particular, in [13], a programming library was developed that allows for a user to program dualarm robot tasks visually. This is done by using vision and voice recognition to interpret the desired functionality (move down, rotate, approach, etc.…”

Section: Related Workmentioning

confidence: 99%

Folding assembly by means of dual-arm robotic manipulation

Almeida

Karayiannidis

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.

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Section: Related Workmentioning

confidence: 99%

Folding assembly by means of dual-arm robotic manipulation

Almeida

Karayiannidis

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Thirdly, it is difficult to accurately demonstrate a bimanual task by kinesthetic teaching; typically a user must use both hands to move a robot arm. In industry, bimanual tasks are usually demonstrated by moving the robot with the control panel or with pre-programmed commands [5].…”

Section: Introductionmentioning

confidence: 99%

A vision-guided multi-robot cooperation framework for learning-by-demonstration and task reproduction

Huang

Su-Lin

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents a vision-based learning-bydemonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction stages. An expert first demonstrates how to use tools to perform a task, while the tool motion is observed using a vision system. The demonstrations are then encoded using a statistical model to generate a reference motion trajectory. Equipped with the same tools and the learned model, the robot is guided by vision to reproduce the task. The task performance was evaluated in terms of both accuracy and speed. However, simply increasing the robot's speed could decrease the reproduction accuracy. To this end, a dual-rate Kalman filter is employed to compensate for latency between the robot and vision system. More importantly, the sampling rates of the reference trajectory and the robot speed are optimised adaptively according to the learned motion model. We demonstrate the effectiveness of our approach by performing two tasks: a trajectory reproduction task and a bimanual sewing task. We show that using our vision-based approach, the robots can conduct effective learning by demonstrations and perform accurate and fast task reproduction. The proposed approach is generalisable to other manipulation tasks, where bimanual or multi-robot cooperation is required.

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“…These are used so that the act of programming a robot becomes simpler [5], and to increase the level of abstraction when creating such a system [6]. In [7], a manipulation system is able to execute different grasps through the conjunction of motion primitives, motion planning and low level arm controllers.…”

Section: Related Workmentioning

confidence: 99%

Bimanual folding assembly: Switched control and contact point estimation

Almeida

Vina

Karayiannidis

2016

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

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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.

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Intuitive dual arm robot programming for assembly operations

Cited by 84 publications

References 7 publications

Folding assembly by means of dual-arm robotic manipulation

Folding assembly by means of dual-arm robotic manipulation

A vision-guided multi-robot cooperation framework for learning-by-demonstration and task reproduction

Bimanual folding assembly: Switched control and contact point estimation

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