操纵任务与双臂系统,包括障碍物移除

Carlos Rodríguez, A. Montano, R. Suárez
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引用次数: 3

摘要

本文研究了双手系统的运动规划问题,考虑了用一只手去除潜在障碍物的可能性,以便用另一只手抓住所需的物体。该方法基于概率路线图,不排除与可移动对象发生碰撞的样本,而是根据碰撞的障碍物对它们进行分类,并允许搜索自由路径,并指示哪些对象必须从工作空间中移除,以使路径实际有效。该方法已被实现,并考虑一个真实的双手机器人系统进行了不同的测试,其中一只手负责抓取所需的物体,另一只手负责移除潜在的障碍物。通过仿真和实际实验,给出了仿真和实际工作单元的运行实例。
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Manipulation tasks with a dual arm system including obstacles removing
The paper deals with the problem of planning movements of a two-hand system, considering the possibility of using one hand to remove potential obstacles in order to grasp a desired object with the other hand. The approach is based on a Probabilistic Road Map that does not rule out samples implying collisions with removable objects but instead classify them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the workspace to make the path be actually valid. The approach has been implemented and different tests were performed with considering a real two-hand robotic system with one hand in charge of grasping a desired object and the other in charge of removing the potential obstacles. Some running examples both in simulation and a real workcell are presented in the paper using simulations and real experimentations.
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