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Folding Assembly by Means of Dual-Arm Robotic Manipulation
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.ORCID-id: 0000-0003-3252-715X
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL. Chalmers University of Technology.ORCID-id: 0000-0001-5129-342X
2016 (engelsk)Inngår i: 2016 IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2016, s. 3987-3993Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2016. s. 3987-3993
Emneord [en]
Robotics, Manipulation, Estimation, Dual-arm
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:kth:diva-227165DOI: 10.1109/ICRA.2016.7487588ISI: 000389516203065Scopus ID: 2-s2.0-84977559979OAI: oai:DiVA.org:kth-227165DiVA, id: diva2:1203328
Konferanse
2016 IEEE International Conference on Robotics and Automation
Prosjekter
SARAFun
Merknad

QC 20180507

Tilgjengelig fra: 2018-05-03 Laget: 2018-05-03 Sist oppdatert: 2018-05-07bibliografisk kontrollert

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