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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: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE. IEEE International Conference on Robotics and Automation, 29 May - 2 June 2017, Singapore. doi: 10.1109/ICRA.2017.7989069. ISBN 978-150904633-1. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/7989069


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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Journal or Publication Title:2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
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
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
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:29 Mar 2023 00:32

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