论文标题
最大化环境限制的使用：基于推动的混合位置/力量组装技能
Maximizing the Use of Environmental Constraints: A Pushing-Based Hybrid Position/Force Assembly Skill for Contact-Rich Tasks
论文作者
论文摘要
在现代制造环境中，对接触式任务的需求正在迅速增长。但是，很少有传统的机器人组装技能考虑任务执行过程中的环境限制，并且大多数人将这些限制作为终止条件。在这项研究中，我们提出了基于推动的混合位置/力组装技能，该技能可以在任务执行过程中最大化环境限制。据我们所知，这是在执行程序集任务期间使用推动操作考虑的第一项工作。我们已经证明，我们的技能可以使用移动操纵器系统组装任务实验最大化环境约束的利用，并在执行中实现100 \％的成功率。
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as termination conditions. In this study, we present a pushing-based hybrid position/force assembly skill that can maximize environmental constraints during task execution. To the best of our knowledge, this is the first work that considers using pushing actions during the execution of the assembly tasks. We have proved that our skill can maximize the utilization of environmental constraints using mobile manipulator system assembly task experiments, and achieve a 100\% success rate in the executions.
