Task-Compatibility-Based Motion Planning for Bimanual Assembly

Hwang, Myun Joong; Park, Nam Soo; Kwak, Sung Jo; Lee, Doo Yong

doi:10.1109/icsmc.2006.384850

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Conversion Of Task-level Transitions To Motion Of the B1

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2007

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Cited by 5 publications

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“…The X G is the 12 × 1 vector representing the velocity of the two workpieces as (13). The velocity of the workpiece i is represented as (14).…”

Section: Conversion Of Task-level Transitions To Motion Of the Bmentioning

confidence: 99%

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Motion planning of bimanual robot for assembly

Hwang

Lee

Chung

2007

2007 IEEE International Conference on Systems, Man and Cybernetics

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This paper presents motion planning method for bimanual robot for bimanual assembly task. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. The motion requirements of workpieces are transformed to the motion command of the bimanual robot. A hierarchical coordination scheme for bimanual robot is also proposed to perform cooperative assembly motions. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.

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“…The X G is the 12 × 1 vector representing the velocity of the two workpieces as (13). The velocity of the workpiece i is represented as (14).…”

Section: Conversion Of Task-level Transitions To Motion Of the Bmentioning

confidence: 99%

“…Hwang et al also proposed task-compatibility-based motion planning method to utilize redundancy of bimanual robot in [13]. However, control problem of the bimanual robot was not fully considered.…”

Section: Introductionmentioning

confidence: 99%