A novel task-oriented framework for dual-arm robotic assembly task

doi:10.1007/s11465-021-0638-2

Frontiers of Mechanical Engineering

2021, Vol. 16

Issue (3): 528-545 https://doi.org/10.1007/s11465-021-0638-2

本期目录

A novel task-oriented framework for dual-arm robotic assembly task

Zhengwei WANG¹, Yahui GAN¹(

), Xianzhong DAI¹

¹. School of Automation, Southeast University, Nanjing 210096, China
². Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China

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Abstract：

In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in such applications is still an open, challenging issue. This paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm robots. In this framework, visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces, where the performance of tasks can be abstracted as a high-level state for intelligent reasoning. The assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the workpieces. Next, the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the scenarios. Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the proposed framework. Experimental results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

Key words： dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception

收稿日期: 2021-01-31 出版日期: 2021-09-24

Corresponding Author(s): Yahui GAN

引用本文:

. [J]. Frontiers of Mechanical Engineering, 2021, 16(3): 528-545.
Zhengwei WANG, Yahui GAN, Xianzhong DAI. A novel task-oriented framework for dual-arm robotic assembly task. Front. Mech. Eng., 2021, 16(3): 528-545.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-021-0638-2
https://academic.hep.com.cn/fme/CN/Y2021/V16/I3/528

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Variables
$a i$	Action name
A	Set of actions
$A s e q$	A sequence of actions
$B$	Basic information about the instance
$D$	Type identifier
$D m$	Domain-specific model
$E k$	Edges of a graph
$G$	Target world state specified by the task
$G k$	Graph representation of the world
$G N k$	Graph representation of a target and its obstacles
$L$	Limitation conditions
$M$	Set of pairs of actions and its corresponding parameters
$N k$	Nodes of a graph
$O$	General representation of the workpieces
$O k i$ ( $i ∈ N ?$ )	Instance of a type of workpiece
$p a r a s i$	Parameter list
$s$	World state that interested at a time point
$S$	State representation for workpieces
$W$	World physical properties
$z$	World state that interested
$z d e s$	Destination of the world state
$z i n i$	Initial world state
$z t r j$	A series of transitions in world state

$Σ$	Mechanisms that drive the world changes
Abbreviations
AERM	Assembly environment representation model
AI	Artificial intelligence
FSA	Functional sequence of actions
STRIPS	Stanford Research Institute Problem Solver

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