论文标题
金属线操纵计划3D弯曲 - 低有效载荷机器人如何使用弯曲机弯曲硬金属线
Metal Wire Manipulation Planning for 3D Curving -- How a Low Payload Robot Can Use a Bending Machine to Bend Stiff Metal Wire
论文作者
论文摘要
本文为机器人臂提供了一个组合的任务和运动计划者，可以通过与弯曲机协作来执行3D金属电线弯曲任务。我们假设一个协作机器人可以安全地在人类环境中工作，但有效载荷较弱，可以弯曲较大的弯曲对象，并为机器人开发了合并的计划器，以使用弯曲机。我们的方法将3D曲线转换为弯曲集，并生成可行的弯曲序列，机器使用情况，机器人抓取姿势以及乘坐臂运动，并考虑到组合的任务和运动水平约束。与以前可变形的线性对象成型工作相比，该工作依赖于机器人臂提供的力，该方法适用于刚度高的材料。我们使用不同的任务评估系统。结果表明，所提出的系统具有灵活性和稳健性，可以通过设计的弯曲机为公司生成机器人运动。
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a weak payload to bend objects with large stiffness, and developed a combined planner for the robot to use a bending machine. Our method converts a 3D curve to a bending set and generates the feasible bending sequence, machine usage, robotic grasp poses, and pick-and-place arm motion considering the combined task and motion level constraints. Compared with previous deformable linear object shaping work that relied on forces provided by robotic arms, the proposed method is suitable for the material with high stiffness. We evaluate the system using different tasks. The results show that the proposed system is flexible and robust to generate robotic motion to corporate with the designed bending machine.
