Folding Assembly by Means of Dual-Arm Robotic Manipulation
2016 (English)In: 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2016, 3987-3993 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 3987-3993 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Dual-arm Manipulation, Robotics, Estimation
Research subject Computer Science
IdentifiersURN: urn:nbn:se:kth:diva-191019DOI: 10.1109/ICRA.2016.7487588ScopusID: 2-s2.0-84977559979ISBN: 978-1-4673-8026-3OAI: oai:DiVA.org:kth-191019DiVA: diva2:954483
2016 IEEE International Conference on Robotics and Automation (ICRA), 16-21 May 2016
FunderEU, Horizon 2020, 8012
QC 201608292016-08-222016-08-222016-08-29Bibliographically approved