抄録
This paper discusses a motion planning method for assembling a ring-shaped elastic part to a cylindrical part by using a dual-arm manipulator. Our proposed planner, first computes a series of key configurations taking the deformation of the object into consideration. Then, we plan the robot's motion connecting each key configuration based on the Covariant Hamiltonian Optimization and Motion Planning (CHOMP) method. We introduce an energy based objective functional that is obtained by adding a term related to the potential energy of the elastic object. This objective functional yields a trajectory where the deformation of the elastic object is minimized. To confirm the validity of the proposed planners, simulation results of a PR2 robot handling a ring-shaped elastic object are shown. We show that our modified motion planner is able to find a feasible trajectory keeping the deformation of the elastic object as small as possible, and that the assembly task is achieved through the proposed planner.
