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

作     者：Zhengwei WANG Yahui GAN Xianzhong DAI Zhengwei WANG;Yahui GAN;Xianzhong DAI

作者机构：School of AutomationSoutheast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing 210096China 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2021年第16卷第3期

页      面：528-545页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

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) 

主　　题：dual-arm assembly Al reasoning intelligent system task-oriented motion planning visual perception 

摘      要：In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** 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 *** 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 *** assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the ***,the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the *** are set up with a dual-arm robotic system(ABB YuMi and an RGB-D camera)to validate the proposed *** results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.