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Bimanual folding as...
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Almeida, Diogo,1991-KTH,Robotik, perception och lärande, RPL,Centrum för Autonoma System, CAS
(author)
Bimanual folding assembly: Switched control and contact point estimation
- Article/chapterEnglish2016
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Numbers
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LIBRIS-ID:oai:research.chalmers.se:9b9ef0fd-28ec-4362-9383-c4babbb3849d
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ISBN:9781509047185
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https://doi.org/10.1109/HUMANOIDS.2016.7803279DOI
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https://research.chalmers.se/publication/247501URI
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https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199856URI
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Language:English
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Summary in:English
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Subject category:kon swepub-publicationtype
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Subject category:ref swepub-contenttype
Notes
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QC 20170120
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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.
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Added entries (persons, corporate bodies, meetings, titles ...)
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Viña, Francisco E.KTH,Robotik, perception och lärande, RPL,Centrum för Autonoma System, CAS(Swepub:kth)u1lq282z
(author)
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Karayiannidis, Yiannis,1980Chalmers tekniska högskola,Chalmers University of Technology(Swepub:kth)u1zl039f
(author)
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KTHRobotik, perception och lärande, RPL
(creator_code:org_t)
Related titles
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In:16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016; Hotel WestinCancun; Mexico; 15-17 November 2016Cancun : IEEE, s. Art no 7803279, Pages 210-2162164-05809781509047185
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