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Asymmetric Dual-Arm Task Execution using an Extended Relative Jacobian
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-3252-715X
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-5129-342X
2019 (English)In: The International Symposium on Robotics Research, 2019Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2019.
Keywords [en]
Kinematics, Robotics, Dual-Arm manipulation, manipulation
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-259615OAI: oai:DiVA.org:kth-259615DiVA, id: diva2:1352522
Conference
The International Symposium on Robotics Research
Note

QC 20190930

Available from: 2019-09-19 Created: 2019-09-19 Last updated: 2019-10-28Bibliographically approved
In thesis
1. Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy
Open this publication in new window or tab >>Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Robotic manipulators are mostly employed in industrial environments, where their tasks can be prescribed with little to no uncertainty. This is possible in scenarios where the deployment time of robot workcells is not prohibitive, such as in the automotive industry. In other contexts, however, the time cost of setting up a classical robotic automation workcell is often prohibitive. This is the case with cellphone manufacturing, for example, which is currently mostly executed by human workers. Robotic automation is nevertheless desirable in these human-centric environments, as a robot can automate the most tedious parts of an assembly. To deploy robots in these environments, however, requires an ability to deal with uncertainties and to robustly execute any given task. In this thesis, we discuss two topics related to autonomous robotic manipulation. First, we address parametric uncertainties in manipulation tasks, such as the location of contacts during the execution of an assembly. We propose and experimentally evaluate two methods that rely on force and torque measurements to produce estimates of task related uncertainties: a method for dexterous manipulation under uncertainties which relies on a compliant rotational degree of freedom at the robot's gripper grasp point and exploits contact  with an external surface, and a cooperative manipulation system which is able to identify the kinematics of a two degrees of freedom mechanism. Then, we consider redundancies in dual-arm robotic manipulation. Dual-armed robots offer a large degree of redundancy which can be exploited to ensure a more robust task execution. When executing an assembly task, for instance, robots can freely change the location of the assembly in their workspace without affecting the task execution. We discuss methods that explore these types of redundancies in relative motion tasks in the form of asymmetries in their execution. Finally, we approach the converse problem by presenting a system which is able to balance measured forces and torques at its end-effectors by leveraging relative motion between them, while grasping a rigid tray. This is achieved through discrete sliding of the grasp points, which constitutes a novel application of bimanual dexterous manipulation.

Place, publisher, year, edition, pages
KTH Royal Institute of Technology, 2019. p. 40
Series
TRITA-EECS-AVL ; 2019:73
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-263043 (URN)978-91-7873-331-6 (ISBN)
Public defence
2019-11-22, Room F3, Lindstedtsvägen 26, Stockholm, 14:00 (English)
Opponent
Supervisors
Note

QC 20191105

Available from: 2019-11-05 Created: 2019-10-28 Last updated: 2019-11-18Bibliographically approved

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Almeida, DiogoKarayiannidis, Yiannis

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