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Bimanual folding assembly: Switched control and contact point estimation

Diogo Almeida ; Francisco E. Vina ; Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik)
16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016; Hotel WestinCancun; Mexico; 15-17 November 2016 (21640572). p. Art no 7803279, Pages 210-216. (2016)
[Konferensbidrag, refereegranskat]

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.

Nyckelord: Anthropomorphic robots; Assembly Added uncertainty; Assembly problems; Assembly systems; Modular approach; Relative motion; Switched control; Switched controller; Unstructured environments Engineering main heading: Robotic assembly

Denna post skapades 2017-01-20. Senast ändrad 2017-07-24.
CPL Pubid: 247501


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)


Datorseende och robotik (autonoma system)
Robotteknik och automation

Chalmers infrastruktur