Coordinate Estimation and Motion Planning for Sash-like Plate Insertion into the Frame

Abstract

This paper presents a planning procedure of robotic manipulators for sash insertion tasks with the perception of the frame into which the robot inserts the sash. A depth camera acquires the point cloud of the frame to estimate the position and orientation of its front flat surface. With the estimated coordinate of the frame, we apply two motion planners: one is A-star searching for the sash inserted into the frame, and another is Randomly-explored Random Trees for the manipulator that holds the sash. We demonstrate the experiments of planned inserting operation and evaluate both the precision of coordinate estimation and the success rates of insertion tasks.