Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study

Manuel Zürn, Markus Wnuk, A. Lechler, A. Verl
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引用次数: 1

Abstract

Deformable linear object manipulation is challenging due to their high dimensional configuration space and their underactuated nature when manipulated by a robotic gripper. Due to the complexity of the task, robotic manipulation relies on sensors and computationally demanding models, which end up in multiple different software components interacting with each other. Research in deformable object manipulation usually focuses on modeling, planning or control, without focusing on a software architecture. This paper presents a novel software architecture for deformable linear object manipulation. The software architecture includes components for deformable linear object manipulation, namely perception-, observation-, robot control-, planning-, communication- and decision component. On top of these components, a layered software architecture consisting of a decision layer, a skill layer and a functional layer is presented The proposed concept aims to be a blueprint for a unified software architecture satisfying the requirements of robotic systems to achieve deformable linear object manipulation. The validation of the software architecture is done in a case study of an autonomous shape manipulation task, where one robot and a stereo camera shape a deformable linear object to a predefined desired shape. This use case is inspired by an automated cable routing process, which today in the industry is still mainly handled manually and therefore offers a vast potential for automation.
可变形线性对象操作的软件体系结构:形状操作案例研究
可变形线性物体由于其高维构型空间和机器人夹持器操纵时的欠驱动特性而具有挑战性。由于任务的复杂性,机器人操作依赖于传感器和计算要求很高的模型,最终导致多个不同的软件组件相互作用。对可变形对象操作的研究通常集中在建模、规划或控制方面,而不关注软件体系结构。本文提出了一种新的可变形线性对象操作软件体系结构。软件架构包括可变形线性对象操作组件,即感知组件、观察组件、机器人控制组件、规划组件、通信组件和决策组件。在这些组件的基础上,提出了由决策层、技能层和功能层组成的分层软件体系结构,该概念旨在为满足机器人系统实现可变形线性对象操作需求的统一软件体系结构提供蓝图。软件架构的验证是在一个自主形状操作任务的案例研究中完成的,其中一个机器人和一个立体摄像机将一个可变形的线性对象塑造成预定的所需形状。这个用例的灵感来自自动化电缆布线过程,目前在行业中仍然主要是手工处理,因此提供了巨大的自动化潜力。
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