论文标题
将组合任务和运动计划与合规控制集成
Integrating Combined Task and Motion Planning with Compliant Control
论文作者
论文摘要
计划插入钉子的动议仍然是一个空旷的问题。困难在于机器人手的抓地力和机器人关节电动机中绝对精确问题的两种错误。本文提出了一种不可或缺的方法来解决问题。该方法使用联合任务和运动计划来计划双臂机器人的grasps和运动，以拾取对象并将其移动到装配姿势。然后，它使用合规策略（线性搜索，螺旋搜索和阻抗控制的组合）来控制双臂机器人，以完成插入。该方法是在双臂通用机器人3机器人上实现的。该机器人测试了六个对象，包括一个详细分析的连接器，以及其他五个具有不同轮廓的钉子和孔的对象，用于其他验证。实验结果表明，合理的力扭力信号变化和最终效应器位置变化。所提出的方法在成功执行计划的孔洞任务方面表现出很高的鲁棒性和高保真度。
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to solve the problem. The method uses combined task and motion planning to plan the grasps and motion for a dual-arm robot to pick up the objects and move them to assembly poses. Then, it controls the dual-arm robot using a compliant strategy (a combination of linear search, spiral search, and impedance control) to finish up the insertion. The method is implemented on a dual-arm Universal Robots 3 robot. Six objects, including a connector with fifteen peg-in-hole pairs for detailed analysis and other five objects with different contours of pegs and holes for additional validation, were tested by the robot. Experimental results show reasonable force-torque signal changes and end-effector position changes. The proposed method exhibits high robustness and high fidelity in successfully conducting planned peg-in-hole tasks.
