Dogar, M orcid.org/0000-0002-6896-5461, Spielberg, A, Baker, S et al. (1 more author) (2019) Multi-robot grasp planning for sequential assembly operations. Autonomous Robots, 43 (3). pp. 649-664. ISSN 0929-5593
Abstract
This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP).Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected constraint graph with off-the-shelf CSP algorithms can quickly become infeasible even fora few sequential assembly operations. We present an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster. The algorithm then uses local search techniques to improve this solution by removing a gradually increasing number of regrasps from the plan. The algorithm enables the user to stop the planner anytime and use the current best plan if the cost of removing regrasps from the plan exceeds the cost of executing those regrasps. We present simulation experiments to compare our algorithm’s performance toa naive algorithm which directly solves the connected constraint graph. We also present a physical robot system which uses the output of our planner to grasp and bring parts together in assembly configurations.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © The Author(s) 2018. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
Keywords: | robotics; robot manipulation; grasping; multi-robot systems |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 18 Apr 2018 15:56 |
Last Modified: | 25 Jun 2023 21:18 |
Status: | Published |
Publisher: | Springer Verlag |
Identification Number: | 10.1007/s10514-018-9748-z |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:129690 |
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