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Integrating combined task and motion planning with compliant control

Successfully conducting planned dual-arm assembly motion using compliant peg-in-hole control

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Abstract

Motion planning for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute position errors in serial robotic manipulators. This paper proposes an integral method to solve the problem. The method uses combined task and motion planning to generate grasps and motions for a dual-arm robot to pick up objects and move them to assembly poses. Then, it controls the dual-arm robot using a compliant strategy (a combination of linear search, spiral search, and impedance control) to finish up the insertion. The method is implemented on a dual-arm Universal Robots 3 robot. Six objects, including a connector with fifteen peg-in-hole pairs for detailed analysis and other five objects with different contours of pegs and holes for additional validation, were tested by the robot. Experimental results show reasonable force-torque signal changes and end-effector position changes. The proposed method exhibits high robustness and high fidelity in successfully conducting planned peg-in-hole tasks.

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Acknowledgements

This paper is based on results obtained from a project commissioned by the New Energy and Industrial Technology Development Organization (NEDO).

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Authors and Affiliations

  1. Graduate School of Engineering Science, Osaka University, Toyonaka, Japan

    Hao Chen, Weiwei Wan & Kensuke Harada

  2. School of Automation, Guangdong University of Technology, Guangzhou, China

    Juncheng Li & Zhifeng Huang

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  1. Hao Chen
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  2. Juncheng Li
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  3. Weiwei Wan
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  5. Kensuke Harada
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Correspondence to Weiwei Wan.

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Chen, H., Li, J., Wan, W. et al. Integrating combined task and motion planning with compliant control. Int J Intell Robot Appl 4, 149–163 (2020). https://doi.org/10.1007/s41315-020-00136-1

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