两台水下自主机械臂协作完成插销入孔，减少通信依赖并利用力传感器提升精度。
Cooperative Assembly with Autonomous Mobile Manipulators in an Underwater Scenario
- 采用任务优先逆运动学控制，仅少量通信实现双臂协同。
- 在孔位存在误差时仍能插入，摩擦大但可避免卡死。
- 力矩传感器反馈助力修正偏差，适合水下高干扰场景。
本文研究一种名为插销入孔的任务，即两台自主移动机械臂需在水下环境中协同搬运一个销钉，并将其插入固定于环境中的孔中。尽管该任务是经典问题，但针对双臂协同且在水下场景的研究尚无先例。本工作聚焦于机器人运动学层面的控制策略，采用任务优先逆运动学（TPIK）方法，设计了一种信息交换最少的协作机制，以应对水下通信受限的挑战。通过在运动学层面集成力-扭矩传感器，辅助完成插入阶段。仿真实验表明，在孔位存在微小误差的情况下，系统仍可完成插入，虽伴随较大摩擦与潜在卡滞风险，但借助力传感器数据能有效改善插入过程。结果验证了所提方法在水下复杂环境下双臂协作的可行性与鲁棒性。
原文摘要 · Abstract (English)
[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the environment. Even if the peg-in-hole is a well-known problem, there are no specific studies related to the use of two different autonomous manipulators, especially in underwater scenarios. Among all the possible investigations towards the problem, this work focuses mainly on the kinematic control of the robots. The methods used are part of the Task Priority Inverse Kinematics (TPIK) approach, with a cooperation scheme that permits to exchange as less information as possible between the agents (that is really important being water a big impediment for communication). A force-torque sensor is exploited at kinematic level to help the insertion phase. The results show how the TPIK and the chosen cooperation scheme can be used for the stated problem. The simulated experiments done consider little errors in the hole's pose, that still permit to insert the peg but with a lot of frictions and possible stucks. It is shown how can be possible to improve (thanks to the data provided by the force-torque sensor) the insertion phase performed by the two manipulators in presence of these errors. [...]
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