Basic research on detection of task errors in robotic manipulation

机器人操作任务错误检测的基础研究

基本信息

批准号：
08650495
负责人：
HASEGAWA Tsutomu
金额：
$ 1.28万
依托单位：
KYUSHU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1997
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650495/
关键词：
robot manipulation error detection multi-fingered hand

项目摘要

A dexterous manipulation system has been developed as a test bed for detecting errors of task : the system is conposed of a multi-fingered hand equipped with force/torque sensors on each fingertips, a 3-D realtime stereo vision to measure the pose of a manipuiated object, and a realtime figer controller.Following functions have been developed :(1).The grasped object is manipulated through rolling contacts between fingertips and the surface of the object enabling fine and control with 10ms of servo cycle time.(2).The 3-D stereo vision measures the pose the pose of the grasped object in every 33ms.(3).A method of separating internal forces and external forces from the force/torque sensorsigna1s has been developed. The former is necessary for the stable grasp and the latter is required for desired manipulation of the object.Detection of task errors requires online reasoning of how the task is being executd. This reasoning is made by combining the higher level synbolic meaning of the task and the lower level motion of fingers and the manipulated object. To enable the reasoning, motion primitives of the multi-fingered hand for mechanical assembly have been developed. Peg-insertion, screw-insertion, and screw-rotation have been successfully implenented as motion primitives.In the mechanical assenbly experinents by multi-fingered hand, a slip is very often caused at the contact of the fingertip and the manipulated object mainly because of an unpredictab1e friction force in the assenbly. This slip leads to an error of the task. For the error detection and recovery, a task monitoring system has been developed using the real time 3-D vision. This is implemented as a parallel process with the task execution control process. Detection of errors in the pose of the manipulated object in a minimum time delay without losing fine and dexterous manipu1ation capability.

灵巧操纵系统已被开发出来，作为检测任务错误的试验台：该系统由多指手组成，每个指尖都配备有力/扭矩传感器，3D实时立体视觉可测量物体的姿态。已开发出以下功能：(1).通过指尖与物体表面之间的滚动接触来操纵抓取的物体，从而实现精细控制10ms的伺服周期时间。(2).3D立体视觉每33ms测量一次抓取物体的位姿。(3).一种从力/扭矩传感器信号中分离内力和外力的方法已经被提出发达。前者是稳定抓取所必需的，后者是对物体进行所需操作所必需的。任务错误的检测需要在线推理任务的执行方式。这种推理是通过将任务的较高层次的象征意义与手指和被操纵对象的较低层次的运动相结合而得出的。为了实现推理，已经开发了用于机械装配的多指手的运动原语。钉插入、螺钉插入和螺钉旋转已被成功地实现为运动原语。在多指手的机械装配实验中，指尖与被操纵物体接触处经常引起滑动，主要原因是：装配中不可预测的摩擦力。这个失误导致了任务的错误。为了进行错误检测和恢复，我们使用实时 3D 视觉开发了任务监控系统。这是作为与任务执行控制过程的并行过程来实现的。在最短的时间延迟内检测被操纵物体的姿态错误，同时不失去精细和灵巧的操纵能力。