This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory planning. For modeling, variations in the belt tension and contact forces between the belt and the pulley could dramatically change the system dynamics. For trajectory planning, it is computationally expensive to plan trajectories for such hybrid dynamical systems as it usually requires planning for discrete modes separately. In this work, we formulate the belt drive unit assembly task as a trajectory optimization problem with complementarity constraints to avoid explicitly imposing contact mode sequences. The problem is solved as a mathematical program with complementarity constraints (MPCC) to obtain feasible and efficient assembly trajectories. We validate the proposed method both in simulations with a physics engine and in real-world experiments with a robotic manipulator.
翻译:本文展示了一种新的轨迹优化配方,以解决磁带驱动器机器人组装问题。 涉及接触和变形物体的机器人操纵在动态模型和轨迹规划方面都具有挑战性。 对于模型而言,带和滑轮之间的腰带张力和接触力的变化会显著改变系统动态。 对于轨迹规划,计划混合动态系统的轨迹是计算成本高昂的,因为通常需要单独规划离散模式。 在这项工作中,我们把带驱动器组装任务作为轨迹优化问题,作为具有互补性的限制,以避免明确强制设定接触模式序列。 这个问题作为具有互补性限制的数学程序(MPCC)来解决,以获得可行和高效的组装轨。 我们在物理引擎模拟和机器人操纵器实际世界实验中验证了拟议的方法。