This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of directly manipulating heavy plates that collaborative robots cannot afford, the paper develops a planner for collaborative robots to operate crane pulley blocks. The planner assumes a target plate is pre-attached to the crane hook. It optimizes dual-arm action sequences and plans the robot's dual-arm motion that pulls the rope of the crane pulley blocks to lift up the plate. The crane pulley blocks reduce the payload that each robotic arm needs to bear. When the plate is lifted up to a satisfying pose, the planner plans a pushing motion for one of the robot arms to tumble over the plate while considering force and moment constraints. The article presents the technical details of the planner and several experiments and analysis carried out using a dual-arm robot made by two Universal Robots UR3 arms. The influence of various parameters and optimization goals are investigated and compared in depth. The results show that the proposed planner is flexible and efficient.
翻译:本文开发了一个规划器, 计划一个双臂机器人的动作序列和动作, 以便用起重滑轮来提升和翻转重板。 问题是由现代协作机器人的低有效载荷引发的。 本文不是直接操控合作机器人买不起的重板, 而是为协作机器人设计一个计划器, 操作起重滑轮块。 计划器假设一个目标盘是事先连接到起重钩的。 它优化双臂动作序列, 并计划机器人的双臂动作, 拉扯起起起起起起重滑轮的绳索的盘的双臂动作。 起重滑轮块减少了每个机器人臂需要携带的载荷。 当板升到一个令人满意的姿势时, 规划器计划推动一个机器人手臂在板上翻转动, 同时考虑到力量和时空的制约。 文章介绍了计划器的技术细节, 以及使用两个通用机器人 UR3 武器制作的双臂机器人进行的若干实验和分析。 各种参数和优化目标的影响在深度中被调查并比较。 结果显示, 拟议的计划是灵活和高效的。