Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userA Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks
99
0
0.0
(
0
)
Added by
Weiwei Wan
Publication date
2021
fields
Informatics Engineering
and research's language is
English
Ask ChatGPT about the research
No Arabic abstract
This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of directly manipulating heavy plates that collaborative robots cannot afford, the paper develops a planner for collaborative robots to operate crane pulley blocks. The planner assumes a target plate is pre-attached to the crane hook. It optimizes dual-arm action sequences and plans the robots dual-arm motion that pulls the rope of the crane pulley blocks to lift up the plate. The crane pulley blocks reduce the payload that each robotic arm needs to bear. When the plate is lifted up to a satisfying pose, the planner plans a pushing motion for one of the robot arms to tumble over the plate while considering force and moment constraints. The article presents the technical details of the planner and several experiments and analysis carried out using a dual-arm robot made by two Universal Robots UR3 arms. The influence of various parameters and optimization goals are investigated and compared in depth. The results show that the proposed planner is flexible and efficient.
rate research
Read More
This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects and the final state of the assembly to generate all possible assembly sequence and evaluate the optimal assembly sequence by considering the stability, graspability, assemblability, as well as the need for a second arm. Especially, the need for a second arm is considered when supports from worktables and other workpieces are not enough to produce a stable assembly. The planner will refer to an assisting grasp to additionally hold and support the unstable components so that the robot can further assemble new workpieces and finally reach a stable state. The output of the planner is the optimal assembly orders, candidate grasps, assembly directions, and the assisting grasps if any. The output of the planner can be used to guide a dual-arm robot to perform the assembly task. The planner is verified in both simulations and real-world executions.
Deploying robots from isolated operations to shared environments has been an increasing trend in robotics for the last decades. However, the requirement of robust interaction in highly variable environments is still beyond the capability of most robots. We proposed to achieve robustness of various interactions by using the Fractal Impedance Control (FIC) and exploiting its non-linear stiffness to adapt to multiple cooperative scenarios, which is applicable to both manipulation and teleoperation applications. The proposed method was evaluated by a wide range of experiments: drilling, moving objects with unknown dynamics, and interacting with humans. The extensive validations demonstrated that the proposed method is very robust in presence of delays and reduced bandwidth in the communication link between master and follower. The results confirmed that the proposed method can enhance the robustness significantly and allow switching tasks freely between manipulation, human-robot cooperation and teleoperation without the need of extensive re-tuning of the controllers.
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable the asymmetric execution of a relative motion task, and show how an asymmetric relative motion space can be defined. We leverage this result to propose an extended relative Jacobian to model the cooperative system, which allows a user to set a concrete degree of asymmetry in the task execution. This is achieved without the need for prescribing an absolute motion target. Instead, the absolute motion remains available as a functional redundancy to the system. We illustrate the properties of our proposed Jacobian through numerical simulations of a novel differential Inverse Kinematics algorithm.
In this paper, we present a multimodal mobile teleoperation system that consists of a novel vision-based hand pose regression network (Transteleop) and an IMU-based arm tracking method. Transteleop observes the human hand through a low-cost depth camera and generates not only joint angles but also depth images of paired robot hand poses through an image-to-image translation process. A keypoint-based reconstruction loss explores the resemblance in appearance and anatomy between human and robotic hands and enriches the local features of reconstructed images. A wearable camera holder enables simultaneous hand-arm control and facilitates the mobility of the whole teleoperation system. Network evaluation results on a test dataset and a variety of complex manipulation tasks that go beyond simple pick-and-place operations show the efficiency and stability of our multimodal teleoperation system.
In this paper, we present a planner for a master dual-arm robot to manipulate tethered tools with an assistant dual-arm robots help. The assistant robot provides assistance to the master robot by manipulating the tool cable and avoiding collisions. The provided assistance allows the master robot to perform tool placements on the robot workspace table to regrasp the tool, which would typically fail since the tool cable tension may change the tool positions. It also allows the master robot to perform tool handovers, which would normally cause entanglements or collisions with the cable and the environment without the assistance. Simulations and real-world experiments are performed to validate the proposed planner.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
