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Bimanual Folding Assembly: Switched Control and Contact Point Estimation
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-3252-715X
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-3653-4691
2016 (English)In: IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, Cancun: IEEE, 2016Conference paper, Published paper (Refereed)
Abstract [en]

Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.

Place, publisher, year, edition, pages
Cancun: IEEE, 2016.
Keyword [en]
Robot kinematics, Estimation, Force, Robot sensing systems
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-199856DOI: 10.1109/HUMANOIDS.2016.7803279ISI: 000403009300034Scopus ID: 2-s2.0-85010207318ISBN: 978-1-5090-4718-5 (electronic)OAI: oai:DiVA.org:kth-199856DiVA, id: diva2:1065643
Conference
International Conference on Humanoid Robots (Humanoids), Cancun, 15-17 Nov. 2016
Projects
SARAFun
Funder
EU, Horizon 2020, 644938
Note

QC 20170120

Available from: 2017-01-16 Created: 2017-01-16 Last updated: 2017-12-06Bibliographically approved

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