论文标题
运动和力量计划通过枢纽操纵重物
Motion and Force Planning for Manipulating Heavy Objects by Pivoting
论文作者
论文摘要
通过利用与环境的接触来操纵对象可以增强机器人操纵器的敏捷性和有效载荷能力。操纵重物超出有效负载能力的一种常见方法是使用一系列旋转运动的序列，其中，将对象移动，而对象和支撑面之间的某些接触点则保持固定。本文的目的是开发一种算法方法，用于以一系列旋转动作的序列进行自动化计划生成对象操纵。操纵重物的计划由操纵器的一系列关节角度组成，相应的物体姿势以及移动物体所需的关节扭矩。在操纵过程中维持对象接触的限制会导致机器人配置空间中的非线性约束，这对于运动计划算法具有挑战性。利用旋转运动对应于刚体运动组的子组中的运动，SE（3）的事实，我们提出了一种基于任务空间的新型计划方法，用于计算操作机和对象的运动计划，同时满足触点约束。我们还将运动计划算法与握力合成算法相结合，以确保满足触点和执行器扭矩约束的摩擦约束。我们通过双臂的百特机器人提出模拟结果，以证明我们的方法。
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to use a sequence of pivoting motions, wherein, an object is moved while some contact points between the object and a support surface are kept fixed. The goal of this paper is to develop an algorithmic approach for automated plan generation for object manipulation with a sequence of pivoting motions. A plan for manipulating a heavy object consists of a sequence of joint angles of the manipulator, the corresponding object poses, as well as the joint torques required to move the object. The constraint of maintaining object contact with the ground during manipulation results in nonlinear constraints in the configuration space of the robot, which is challenging for motion planning algorithms. Exploiting the fact that pivoting motion corresponds to movements in a subgroup of the group of rigid body motions, SE(3), we present a novel task-space based planning approach for computing a motion plan for both the manipulator and the object while satisfying contact constraints. We also combine our motion planning algorithm with a grasping force synthesis algorithm to ensure that friction constraints at the contacts and actuator torque constraints are satisfied. We present simulation results with a dual-armed Baxter robot to demonstrate our approach.
