机械臂在动态环境中的建模与规划

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标题：Modeling and Planning Manipulation in Dynamic Environments

作者：Philipp S. Schmitt, Florian Wirnshofer, Kai M. Wurm, Georg v. Wichert, and Wolfram Burgard

来源：2019 IEEE International Conference on Robotics and Automation (ICRA), May 20-24, 2019, Montreal, Canada

编译：张重群

审核：黄思宇，孙钦

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摘要

在本文中，我们为连续机械臂操作任务提出了一个新的模型，该模型考虑了机器人动力学以及其随时间变化的环境。我们可以从这个模型中自动生成基于约束的控制器并将其视为机械臂动力学规划器中的控制方程。所规划的结果并不是轨迹，而是一系列可以在线应对干扰的控制器。我们在仿真环境和实际机器人环境下验证了该方法，实验结果表明我们的方法可以通过在线规划实现双臂协同相关的操作任务，如避免碰撞和对物体姿势估计做出反应。

Abstract

In this paper we propose a new model for sequential manipulation tasks that also considers robot dynamics and time-variant environments. From this model we automatically derive constraint-based controllers and use them as steering functions in a kinodynamic manipulation planner. The resulting plan is not a trajectory, but a sequence of controllers that react on-line to disturbances. We validated our approach in simulation and on a real robot. In the experiments our approach plans and executes dual-robot manipulation tasks with on-line collision avoidance and reactions to estimates of object poses.