Application of mode-based optimization in robotic manipulations

G. Prokop, K. Dauster, F. Pfeiffer
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Abstract

In robotic manipulation the interaction between robot and environment is an essential part of the task. In order to deal with impacts, friction, and constrained motions a model-based optimization approach is suggested, which relies on a detailed dynamic model of the manipulator itself, the process dynamics of the task, and the interactions between those two. The models are used to define an optimization problem, which is then solved using numerical programming methods. It is illustrated with an assembly task, namely mating a pair of snap fits. Utilizing a pre-optimized dynamic response behavior of the robot as developed in our former work (1996), we plan the trajectory and design parameters of the parts to be assembled, which influence the process dynamics and thus the external excitation of the manipulator dynamics. Advantages of the approach include an easy implementation in industrial application and reduction in the cycle time.
基于模式的优化在机器人操作中的应用
在机器人操作中,机器人与环境的相互作用是任务的重要组成部分。为了处理碰撞、摩擦和约束运动,提出了一种基于模型的优化方法,该方法依赖于机械臂本身的详细动力学模型、任务的过程动力学以及两者之间的相互作用。这些模型用来定义一个优化问题,然后用数值规划方法求解。用装配任务来说明,即配对一对卡扣配合。利用我们在之前的工作(1996)中开发的预先优化的机器人动态响应行为,我们规划了待组装部件的轨迹和设计参数,这些参数影响了过程动力学,从而影响了机械手动力学的外部激励。该方法具有易于工业应用和缩短周期的优点。
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