elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Constraint-based Sample Propagation for Improved State Estimation in Robotic Assembly

Nottensteiner, Korbinian and Hertkorn, Katharina (2017) Constraint-based Sample Propagation for Improved State Estimation in Robotic Assembly. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, 29 May - 2 June 2017, Singapore.

[img] PDF - Registered users only
5MB

Abstract

In fast changing assembly scenarios, it is required to adapt the task execution to the current state of the setup without extensive calibration routines. Therefore, it is important to estimate the geometric uncertainties and contact states during the assembly execution. We use a sequential Monte Carlo (SMC) method to track the relative poses between workpieces during a robotic assembly based on joint torque and position measurements only. In contrast to existing approaches, we focus on assembly tasks where the workpiece is not fixed in the workcell, but can, for example, slide on a table surface. We propose a new constraint-based propagation model for the SMC approach: a compensation motion for the samples dependent on the violation of contact constraints is derived. This allows us to track the motion of the workpieces in cases where a common random diffusion model fails. The method is evaluated with experiments using an assembly scenario with two KUKA LBR iiwa robot arms and shows accurate tracking performance.

Item URL in elib:https://elib.dlr.de/112690/
Document Type:Conference or Workshop Item (Speech)
Title:Constraint-based Sample Propagation for Improved State Estimation in Robotic Assembly
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Nottensteiner, Korbiniankorbinian.nottensteiner (at) dlr.deUNSPECIFIED
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:sequential Monte Carlo, particle filter, robotics assembly, observation
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Singapore
Event Type:international Conference
Event Dates:29 May - 2 June 2017
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Nottensteiner, Korbinian
Deposited On:19 Jun 2017 11:35
Last Modified:11 Feb 2018 11:42

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.