Development of manipulation planning algorithm for a dual-arm robot assembly task

You, Jae-Sang; Kim, Dong‐Hyung; Lim, Sungjin; Kang, Sung-Myung; Lee, Jiyeong; Han, Chang-Soo

doi:10.1109/coase.2012.6386351

Cited by 7 publications

(7 citation statements)

References 8 publications

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“…A real-time collision avoidance algorithm was proposed for a dual-arm robot to coordinate the movements of two arms in an assembly process (Lee and Moradi, 2001). In You et al (2012), a manipulation planning method based on rapidly exploring random trees algorithm was proposed for a dual-arm robot to complete an assembly task. While in Alpizar et al (2014), the covariant Hamiltonian optimization and motion planning was proposed for a dual-arm robot to assemble a ring-shaped elastic part to a cylindrical part.…”

Section: Introductionmentioning

confidence: 99%

Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

Huang

Zheng

Wang

et al. 2020

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Purpose The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task. Design/methodology/approach The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage. Findings The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece. Originality/value The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.

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Section: Introductionmentioning

confidence: 99%

Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

Huang

Zheng

Wang

et al. 2020

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“…Part manipulation and re-grasping has been addressed in literature for Single and dual-arm robot [13][14][15][16]. In general, the part manipulation is performed in configuration space (C-Space) jointly defined for the robot, and the object to be manipulated.…”

Section: Introductionmentioning

confidence: 99%

Integrated Motion Planning for Assembly Task with Part Manipulation Using Re-Grasping

Ali

Lee

2020

Applied Sciences

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This paper presents an integrated planner based on rapidly exploring random tree (RRT) for an assembly task with possible re-grasping. Given multiple grasp poses for the part to assemble, the planner chooses candidate grasp poses considering the environment (including the partially finished assembly) in addition to the initial and final poses of the part. Orientation graph search based re-grasping approach is proposed for part manipulation which is needed when there is no feasible grasp solution for a part between its initial and final poses. Orientation graph search helps finding a series of the intermediate poses of the part needed between its initial and final poses so that robot can grasp and assemble it without interfering the pre-assembled parts. Then while extending the tree, the algorithm tries to connect the tree to a robot configuration with a chosen candidate grasp pose. Also, since the task space undergoes changes at each step of the assembly task, a node or edge in the tree can become in collision during the assembly of later parts, making the node in collision and its descendant nodes disconnected from the whole tree. To handle this, Two stage extended RRT strategy is proposed. The disconnected parts of the main tree are put into forest, and attempts are made to re-connect the tree in the forest to main tree while extending the main tree, thus making it possible to use the disconnected part again. The algorithm is implemented in Linux based system using C++. The proposed algorithm is demonstrated experimentally using UR5e robot manipulator by assembling the soma puzzle pieces in different 3D formations.

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“…Compared to teaching method, this method makes task planning of dual-arm coordination intelligent. Kim et al [17,18] use rapidly expanding random tree to generate assembly path and repeating capture path.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Task Planning for Multiarm Robot with Multiconstraint

Wang

Chen

Jia

et al. 2016

Mathematical Problems in Engineering

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Multiarm systems become the trends of space robots, for the on-orbit servicing missions are becoming more complex and various. A hierarchical task planning method with multiconstraint for multiarm space robot is presented in this paper. The process of task planning is separated into two hierarchies: mission profile analysis and task node planning. In mission profile analysis, several kinds of primitive tasks and operators are defined. Then, a complex task can be decomposed into a sequence of primitive tasks by using hierarchical task network (HTN) with those primitive tasks and operators. In task node planning,A⁎algorithm is improved to adapt the continuous motion of manipulator. Then, some of the primitive tasks which cannot be executed directly because of constraints are further decomposed into several task nodes by using improvedA⁎algorithm. Finally, manipulators execute the task by moving from one node to another with a simple path plan algorithm. The feasibility and effectiveness of the proposed task planning method are verified by simulation.

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Development of manipulation planning algorithm for a dual-arm robot assembly task

Cited by 7 publications

References 8 publications

Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

Peg-in-hole assembly based on master-slave coordination for a compliant dual-arm robot

Integrated Motion Planning for Assembly Task with Part Manipulation Using Re-Grasping

Hierarchical Task Planning for Multiarm Robot with Multiconstraint

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