DocumentCode :
2542747
Title :
Motion planning of bimanual robot for assembly
Author :
Hwang, Myun Joong ; Lee, Doo Yong ; Chung, Seong Youb
Author_Institution :
Korea Adv. Inst. of Sci. & Technol., Daejeon
fYear :
2007
fDate :
7-10 Oct. 2007
Firstpage :
240
Lastpage :
245
Abstract :
This paper presents motion planning method for bimanual robot for bimanual assembly task. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. The motion requirements of workpieces are transformed to the motion command of the bimanual robot. A hierarchical coordination scheme for bimanual robot is also proposed to perform cooperative assembly motions. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.
Keywords :
industrial manipulators; manipulator kinematics; optimisation; path planning; robotic assembly; velocity control; assembly constraints; bimanual robot motion planning; bimanual robotic assembly; cooperative assembly motions; hierarchical coordination scheme; lower-level velocity commands; manipulator kinematics; motion command; optimization problem; task-level assembly sequence; workpiece position; Computational modeling; Fixtures; Force control; Manipulators; Motion planning; Robot kinematics; Robotic assembly; Robotics and automation; Sampling methods; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
Type :
conf
DOI :
10.1109/ICSMC.2007.4413792
Filename :
4413792
Link To Document :
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