Motion Planning of Bimanual Robot Using Adaptive Model of Assembly
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概要
- 論文の詳細を見る
This paper presents a motion planning method for a bimanual robot for executing assembly tasks. The method employs an adaptive modeling which can automatically generate an assembly model and modify the model during actual assembly. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of the workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. Motion requirements of the workpieces are transformed to motion commands of the bimanual robot. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.
- （社）電子情報通信学会の論文
- 2008-12-01
著者
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Chung Seong
Department of Biotechnology, The University of Tokyo
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Lee Doo
Department of Pediatric Surgery, Dan-kook University College of medicine
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Lee Doo
Department Of Mechanical Engineering Kaist
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Lee Doo
Department Of Chemical And Biochemical Engineering Dongguk University
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Chung Seong
Department Of Biotechnology University Of Tokyo
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HWANG Myun
Department of Mechanical Engineering, KAIST
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Hwang Myun
Department Of Mechanical Engineering Kaist
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Chung Seong
Department Of Mechanical Engineering Chungju National University
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Lee Doo
Department Of Anesthesiology Kyung Hee University Medical Center
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