Planning robotic manipulation strategies for workpieces that slide

M. Peshkin, A. Sanderson
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引用次数: 170

Abstract

The authors consider the automated planning of manipulation strategies for workpieces able to slide on their work surface. The aim is to generate open-loop (i.e. sensorless) strategies which succeed in aligning or grasping a workpiece, in the face of two kinds of uncertainty: (1) the initial configuration of the workpiece may have some bounded error, and (2) the details of the contact between workpiece and work surface may be unknown, precluding deterministic solution for the motion of the workpiece even were its initial configuration exactly known. Configuration maps are defined which map all configurations of a workpiece before elementary manipulative operation to all possible outcomes. Using elementary manipulative operations (represented by configuration maps) as primitives, appropriate search techniques are applied to find operations sequences which are guaranteed to succeed despite uncertainty. As a concrete example, the authors demonstrate the automated design of a class of passive parts-feeder consisting of multiple sequential fences across a conveyor belt. >
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为滑动工件规划机器人操作策略
作者考虑了工件在其工作面上能够滑动的操作策略的自动化规划。其目的是产生开环(即无传感器)策略,成功对准或抓取工件,面对两种不确定性:(1)工件的初始配置可能有一些有界误差,(2)工件与工作表面之间的接触细节可能是未知的,排除了工件运动的确定性解决方案,即使它的初始配置完全已知。构形图的定义是将工件在基本操作之前的所有构形映射到所有可能的结果。以基本操作操作(由配置映射表示)为原语,应用适当的搜索技术寻找不确定情况下仍能保证成功的操作序列。作为一个具体的例子,作者展示了一类由多个连续围栏组成的被动零件馈线的自动化设计。>
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