Dual-arm Assembly Planning Considering Gravitational Constraints
This addresses a challenging TAMP problem for robotics assembly, but it appears incremental as it builds on existing methods with specific improvements.
The paper tackles the problem of planning dual-arm assembly for more than three objects by considering gravitational constraints to prevent part breakage, and the proposed planner is shown to be robust and efficient in experiments.
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints that may break the finished part. This paper proposes a planner to plan the dual-arm assembly of more than three objects. It automatically generates the grasp configurations and assembly poses, and simultaneously searches and backtracks the grasp space and assembly space to accelerate the motion planning of robot arms. Meanwhile, the proposed method considers gravitational constraints during robot motion planning to avoid breaking the finished part. In the experiments and analysis section, the time cost of each process and the influence of different parameters used in the proposed planner are compared and analyzed. The optimal values are used to perform real-world executions of various robotic assembly tasks. The planner is proved to be robust and efficient through the experiments.