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Bimanual folding assembly: Switched control and contact point estimation
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- Almeida, Diogo, 1991- (author)
- KTH,Robotik, perception och lärande, RPL,Centrum för Autonoma System, CAS
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- Viña, Francisco E. (author)
- KTH,Robotik, perception och lärande, RPL,Centrum för Autonoma System, CAS
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- Karayiannidis, Yiannis, 1980 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
- (creator_code:org_t)
- ISBN 9781509047185
- Cancun : IEEE, 2016
- 2016
- English.
- In: 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016; Hotel WestinCancun; Mexico; 15-17 November 2016. - Cancun : IEEE. - 2164-0580. - 9781509047185 ; , s. Art no 7803279, Pages 210-216
- Conference paper (peer-reviewed)
Abstract
Subject headings
Close
- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Keyword
- Assembly problems
- Assembly systems
- Unstructured environments Engineering main heading: Robotic assembly
- Anthropomorphic robots
- Switched controller
- Assembly Added uncertainty
- Switched control
- Relative motion
- Modular approach
- Computer Science
Publication and Content Type
- kon (subject category)
- ref (subject category)
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