Manipulating Deformable Objects with a Dual-arm Robot

被引：2
|
作者：
Caro, Stephan [1 ]
Chevallereau, Christine [1 ]
Remus, Alberto [2 ]
机构：
[1] CNRS, Lab Sci Numer Nantes LS2N, F-44300 Nantes, France
[2] Ecole Cent Nantes, F-44300 Nantes, France
来源：
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON ROBOTICS, COMPUTER VISION AND INTELLIGENT SYSTEMS (ROBOVIS) | 2021年
关键词：
Deformable Models; Dual-arm Robot; Manipulation; Stability Analysis; TRACKING;
D O I：
10.5220/0010707600003061
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Competition in all sectors requires companies to be increasingly flexible to market changes and the assembly industry is no exception. The impact of this work concerns aircraft production, as well as other fields. The main focus is on modelling and control techniques to carry out assembly tasks involving deformable parts, by exploiting a multi-robot system. Specifically, two robot arms are used to move a light and deformable part in order to adapt its shape for an assembly operation. A vision system is used, assisted by markers. Furthermore, the stability of the proposed controller is analyzed and experimental results are given.
引用
收藏
页码：48 / 56
页数：9
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