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

作　　者：Zhengwei WANG Yahui GAN Xianzhong DAI 

机构地区：[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

出　　处：《Frontiers of Mechanical Engineering》2021年第3期528-545,共18页机械工程前沿（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China(Grant Nos.61873308,61503076,and 61175113);the Natural Science Foundation of Jiangsu Province(Grant No.BK20150624);the Fundamental Research Funds for the Central Universities(Grant No.202008003).

摘　　要：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.

关 键 词：dual-arm assembly Al reasoning intelligent system task-oriented motion planning visual perception 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]