让机器人在不确定环境中自动完成拆装任务
Maintenance automation: methods for robotics manipulation planning and execution
- 结合CAD与RGBD数据规划操作路径
- 将符号化指令转化为可执行机器人动作
- 适用于复杂工业维护场景的自动化系统
使用机器人系统自动化复杂任务需要具备规划、控制与执行能力。本文提出一套完整的维护自动化机器人系统，可在环境不确定性（如计划信息偏差）下实现拆装操作的自动化。该系统的认知基于一种结合CAD和RGBD数据的规划方法，包含将符号化计划解释并转换为一组可执行机器人指令的方法。系统通过真实应用场景进行了实验验证，标志着首次将这些理论成果转化为实际机器人解决方案。
原文摘要 · Abstract (English)
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under environmental uncertainties (e.g. deviations between prior plan information). The cognition of the robotic system is based on a planning approach (using CAD and RGBD data) and includes a method to interpret a symbolic plan and transform it to a set of executable robot instructions. The complete system is experimentally evaluated using real-world applications. This work shows the first step to transfer these theoretical results into a practical robotic solution.
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