Folding Assembly by Means of Dual-Arm Robotic Manipulation
This work addresses assembly tasks in robotics, but it is incremental as it focuses on a specific primitive without broad advancements.
The paper tackled the problem of folding assembly for dual-arm robotic manipulation by modeling the system as an articulated object and proposing a controller using force torque measurements, with experimental tests on two sample parts to demonstrate its viability.
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.