Motion planning of bimanual robot for assembly

摘要

This paper presents motion planning method for bimanual robot for bimanual assembly task. Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. The lower-level velocity commands of workpieces are automatically derived by solving optimization problem formulated with assembly constraints, position of the workpieces, and kinematics of manipulators. The motion requirements of workpieces are transformed to the motion command of the bimanual robot. A hierarchical coordination scheme for bimanual robot is also proposed to perform cooperative assembly motions. The proposed approach is evaluated with experiments on peg-in-hole assembly with an L-shaped peg.