Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Sánchez, Daniel; Wan, Weiwei; Harada, Kensuke

doi:10.1007/978-3-030-20131-9_254

Cited by 7 publications

(6 citation statements)

References 25 publications

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“…They also help the robot avoid becoming entangled with the tool cable as well as avoid accidents related to cable snarling. This paper is an extension and continuation of our previous work [29].…”

Section: Contributionsupporting

confidence: 55%

“…To prevent entanglements around the robot, we have implemented two constraint-based solutions to our planner. The first set of constraints, presented in [29], uses orientation constraints to prevent the robot from bending the tool cable past a certain threshold, reducing the torque suffered by the robot during manipulation. Our second set of constraints makes use of a proposed method to measure the possible snarling or "angle accumulation" of the cable around the robot arm.…”

Section: Constraints For Entanglement Avoidancementioning

confidence: 99%

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Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

2020

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Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is not considered, the robot motions may make the cable become entangled with the robot arms or elements of its workspace, causing accidents or unnecessary strain on the robot and the tool. Furthermore, the behavior of the tool cable during manipulation and its degree of entanglement around the robot are difficult to predict. The present paper introduces a constrained manipulation planner for dual-armed tethered tool manipulation involving tool re-grasping. Our solution employs a tool balancer to straighten the tool cable and facilitate the cable deformation problem. The planner predicts the cable states during manipulation and restricts the robot motions in order to avoid cable entanglements and collisions while performing tool re-posing tasks. Furthermore, the planner also applies orientational constraints to limit the cable bending, reducing the torque and stress suffered by the robot due to the cable tension. Simulations and real-world experiments validated the presented method.

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Section: Contributionsupporting

confidence: 55%

Section: Constraints For Entanglement Avoidancementioning

confidence: 99%

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

2020

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“…In one of our previous work [25], we presented a planning solution for regrasp manipulation of tethered tools with tool balancers, but that solution was based on avoiding robot poses or motions that could cause entanglements. The solution helped to avoid collisions with the cable but significantly diminished the freedom of movement of the robot.…”

Section: Contributionsmentioning

confidence: 99%

Tethered Tool Manipulation Planning With Cable Maneuvering

Sánchez

Wan

Harada

2020

IEEE Robot. Autom. Lett.

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In this paper, we present a planner for manipulating tethered tools using dual-armed robots. The planner generates robot motion sequences to maneuver a tool and its cable while avoiding robot-cable entanglements. Firstly, the planner generates an Object Manipulation Motion Sequence (OMMS) to handle the tool and place it in desired poses. Secondly, the planner examines the tool movement associated with the OMMS and computes candidate positions for a cable slider, to maneuver the tool cable and avoid collisions. Finally, the planner determines the optimal slider positions to avoid entanglements and generates a Cable Manipulation Motion Sequence (CMMS) to place the slider in these positions. The robot executes both the OMMS and CMMS to handle the tool and its cable to avoid entanglements and excess cable bending. Simulations and realworld experiments help validate the proposed method.

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“…Grasp and regrasp planning were implemented to adjust the work pose of the tool following [19]. Sanchez et al [20] developed a planner with orientation constraints to manipulate a tethered tool. Beyond our group, similar studies about the grasp and regrasp planning could be found in [21], [22], [23], [24], [25], etc.…”

Section: Grasp and Regrasp Planningmentioning

confidence: 99%

“…p should meet equations (18) and (19). h should meet equation (20). Otherwise, the link bars will overlap with each other.…”

Section: Size Optimizationmentioning

confidence: 99%

Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers

Wan

Harada

2019

IEEE Robot. Autom. Lett.

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This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of the mechanical tool is two symmetric parallelograms which transmit the motion of the robotic gripper to the mechanical tool. Four torsion springs are attached to the four inner joints of the two parallelograms to open the tool as the robotic gripper releases. The forces and transmission are analyzed in detail to make sure the tool reacts well with respect to the gripping forces and the spring stiffness. Also, based on the kinematic structure, variety tooltips were designed for the mechanical tool to perform various tasks. The kinematic structure can be a platform to apply various skillful gripper designs. The designed tool could be treated as a normal object and be picked up and used by automatically planned grasps. A robot may locate the tool through the AR markers attached to the tool body, grasp the tool by selecting an automatically planned grasp, and move the tool from any arbitrary pose to a specific pose to grip objects. The robot may also determine the optimal grasps and usage according to the requirements of given tasks.

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Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Cited by 7 publications

References 25 publications

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

Tethered Tool Manipulation Planning With Cable Maneuvering

Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers

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