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Robotic Manipulation for Bi-Manual Folding Assembly
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH.ORCID iD: 0000-0003-3252-715X
2015 (English)In: Late Breaking Posters, 2015Conference paper, Poster (with or without abstract) (Other academic)
Abstract [en]

In this poster the problem of bimanual robotic assembly is considered. In particular we introduce folding assembly which is an assembly task that requires significant rotational motion in order to mate two assembly pieces. We model the connection between the two parts as an ideal virtual prismatic and revolute joint while non-ideal effects on the part movements can be considered as special cases of the ideal virtual joint. The connection between the gripper and the assembly part is also studied by considering the case of rigid and non-rigid grasp. As a proof-of-concept, a stabilizing controller for the assembly task is derived following a bimanual master-slave approach under the assumption of rigid grasps. The controller is validated through simulation while an example object has been designed and printed for experimental validation of our assembly technique.

Place, publisher, year, edition, pages
2015.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-232679OAI: oai:DiVA.org:kth-232679DiVA, id: diva2:1235871
Conference
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany
Note

QC 20180822

Available from: 2018-07-28 Created: 2018-07-28 Last updated: 2018-08-22Bibliographically approved

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Conference webpagehttps://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=103&Number=2396

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Karayiannidis, Yiannis

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