Fine-motion planning for robotic assembly under modelling and sensing uncertainties
This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of friction. <br/>The proposed planner is based on a two-phase approach. Firs...
| Autor: | |
|---|---|
| Tipo de recurso: | tesis doctoral |
| Estado: | Versión publicada |
| Fecha de publicación: | 1998 |
| País: | España |
| Institución: | CBUC, CESCA |
| Repositorio: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/5935 |
| Acceso en línea: | http://www.tdx.cat/TDX-1119101-091721 http://hdl.handle.net/10803/5935 https://dx.doi.org/10.5821/dissertation-2117-93250 |
| Access Level: | acceso abierto |
| Palabra clave: | Programació automàtica Robotics Robotic Assembly Automatic Programming Robot Motion Planning Muntatge robotitzat Planificació de moviments Robòtica 1203. Ciència dels ordinadors 68 |
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Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| title |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| spellingShingle |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties Rosell Gratacòs, Jan Programació automàtica Robotics Robotic Assembly Automatic Programming Robot Motion Planning Muntatge robotitzat Planificació de moviments Robòtica 1203. Ciència dels ordinadors 68 |
| title_short |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| title_full |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| title_fullStr |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| title_full_unstemmed |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| title_sort |
Fine-motion planning for robotic assembly under modelling and sensing uncertainties |
| dc.creator.none.fl_str_mv |
Rosell Gratacòs, Jan |
| author |
Rosell Gratacòs, Jan |
| author_facet |
Rosell Gratacòs, Jan |
| author_role |
author |
| dc.contributor.none.fl_str_mv |
Basáñez, Luis Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
| dc.subject.none.fl_str_mv |
Programació automàtica Robotics Robotic Assembly Automatic Programming Robot Motion Planning Muntatge robotitzat Planificació de moviments Robòtica 1203. Ciència dels ordinadors 68 |
| topic |
Programació automàtica Robotics Robotic Assembly Automatic Programming Robot Motion Planning Muntatge robotitzat Planificació de moviments Robòtica 1203. Ciència dels ordinadors 68 |
| description |
This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of friction. <br/>The proposed planner is based on a two-phase approach. First, uncertainty is not considered and a nominal solution path is searched in a graph representing the free configuration space, which has been obtained with an exact cell decomposition method. Then, uncertainty is considered and the arcs of the solution path are evaluated in order that the possible contacts occurring during the traversing of the arc do not provoke a failure of the task execution. When this is not possible, the planner finds a patch plan in contact-space in an analogous way as the nominal solution path in free-space.<br/>This work:<br/>- introduces the parametrized translational configuration space, which is an embedding of the rotational degree of freedom into the translational configuration space, for the analysis of the geometric constraints of planar assembly tasks.<br/>- makes a thorough analysis of the sources of uncertainty that affect an assembly task. Modelling and sensing uncertainties have been considered. Although modelling uncertainty is an important source of uncertainty that affects assembly tasks, it has usually been overlooked by most of the researchers. In this work, this source of uncertainty has been meticulously studied, by analyzing the effects of both positioning uncertainty and manufacturing tolerances. The dependence between sources of uncertainty is also taken into account.<br/>- includes a force analysis using the dual representation of forces, which allows to consider in an easy way both the geometric uncertainties that affect the possible raction forces arising at the contact situations, as well as the sensor uncertainties. Friction has been considered and modelled with the generalized friction cone. The suitability of this model for this kind of tasks has been validated from the experiments. <br/>- synthesizes the robot motions using a force-compliant control based on the generalized damping model. Task execution includes uncertainty reduction routines in order to adapt the robot commands to the actual geometry of the task. |
| publishDate |
1998 |
| dc.date.none.fl_str_mv |
1998 2001 2001 2011 |
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info:eu-repo/semantics/doctoralThesis info:eu-repo/semantics/publishedVersion |
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doctoralThesis |
| status_str |
publishedVersion |
| dc.identifier.none.fl_str_mv |
http://www.tdx.cat/TDX-1119101-091721 http://hdl.handle.net/10803/5935 https://dx.doi.org/10.5821/dissertation-2117-93250 |
| url |
http://www.tdx.cat/TDX-1119101-091721 http://hdl.handle.net/10803/5935 https://dx.doi.org/10.5821/dissertation-2117-93250 |
| dc.language.none.fl_str_mv |
Inglés |
| language_invalid_str_mv |
Inglés |
| dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess |
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openAccess |
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application/pdf application/pdf application/pdf application/pdf application/pdf application/pdf application/pdf application/pdf application/pdf |
| dc.publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
| publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
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TDX (Tesis Doctorals en Xarxa) reponame:TDR. Tesis Doctorales en Red instname:CBUC, CESCA |
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CBUC, CESCA |
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TDR. Tesis Doctorales en Red |
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TDR. Tesis Doctorales en Red |
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| _version_ |
1869411702004514816 |
| spelling |
Fine-motion planning for robotic assembly under modelling and sensing uncertaintiesRosell Gratacòs, JanProgramació automàticaRoboticsRobotic AssemblyAutomatic ProgrammingRobot Motion PlanningMuntatge robotitzatPlanificació de movimentsRobòtica1203. Ciència dels ordinadors68This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of friction. <br/>The proposed planner is based on a two-phase approach. First, uncertainty is not considered and a nominal solution path is searched in a graph representing the free configuration space, which has been obtained with an exact cell decomposition method. Then, uncertainty is considered and the arcs of the solution path are evaluated in order that the possible contacts occurring during the traversing of the arc do not provoke a failure of the task execution. When this is not possible, the planner finds a patch plan in contact-space in an analogous way as the nominal solution path in free-space.<br/>This work:<br/>- introduces the parametrized translational configuration space, which is an embedding of the rotational degree of freedom into the translational configuration space, for the analysis of the geometric constraints of planar assembly tasks.<br/>- makes a thorough analysis of the sources of uncertainty that affect an assembly task. Modelling and sensing uncertainties have been considered. Although modelling uncertainty is an important source of uncertainty that affects assembly tasks, it has usually been overlooked by most of the researchers. In this work, this source of uncertainty has been meticulously studied, by analyzing the effects of both positioning uncertainty and manufacturing tolerances. The dependence between sources of uncertainty is also taken into account.<br/>- includes a force analysis using the dual representation of forces, which allows to consider in an easy way both the geometric uncertainties that affect the possible raction forces arising at the contact situations, as well as the sensor uncertainties. Friction has been considered and modelled with the generalized friction cone. The suitability of this model for this kind of tasks has been validated from the experiments. <br/>- synthesizes the robot motions using a force-compliant control based on the generalized damping model. Task execution includes uncertainty reduction routines in order to adapt the robot commands to the actual geometry of the task.DOCTORAT EN AUTOMATITZACIÓ AVANÇADA I ROBÒTICA (Pla 1998)Universitat Politècnica de CatalunyaBasáñez, LuisUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials2011200119982001info:eu-repo/semantics/doctoralThesisinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://www.tdx.cat/TDX-1119101-091721http://hdl.handle.net/10803/5935https://dx.doi.org/10.5821/dissertation-2117-93250TDX (Tesis Doctorals en Xarxa)reponame:TDR. Tesis Doctorales en Redinstname:CBUC, CESCAInglésADVERTIMENT. L'accés als continguts d'aquesta tesi doctoral i la seva utilització ha de respectar els drets de la persona autora. Pot ser utilitzada per a consulta o estudi personal, així com en activitats o materials d'investigació i docència en els termes establerts a l'art. 32 del Text Refós de la Llei de Propietat Intel·lectual (RDL 1/1996). Per altres utilitzacions es requereix l'autorització prèvia i expressa de la persona autora. En qualsevol cas, en la utilització dels seus continguts caldrà indicar de forma clara el nom i cognoms de la persona autora i el títol de la tesi doctoral. No s'autoritza la seva reproducció o altres formes d'explotació efectuades amb finalitats de lucre ni la seva comunicació pública des d'un lloc aliè al servei TDX. Tampoc s'autoritza la presentació del seu contingut en una finestra o marc aliè a TDX (framing). Aquesta reserva de drets afecta tant als continguts de la tesi com als seus resums i índexs.info:eu-repo/semantics/openAccessoai:www.tdx.cat:10803/59352026-06-14T12:46:07Z |
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15,300724 |