This paper provides a comprehensive overview of motion planning for robotic manipulation, encompassing grasp planning, motion planning, MoveIt in ROS, OMPL, RRT, forward and inverse kinematics, singularity of robotic manipulators, and manipulability.
The document provides an introduction to robotics, defining a robot as a machine that senses its environment and produces actions based on sensory input. It discusses the basic components of robots including embodiment, control, and applications in fields like manufacturing, medical, rescue and more. Additionally, it outlines the basic roadmap of robotics including engineering, control theory, autonomous control, and learning/adaptation.
The document provides an introduction to robotics. It discusses the differences between computers/machines and humans, describing machines as precisely performing tasks while lacking common sense, and humans as capable of understanding and reasoning. It defines a robot as a machine that can obtain information from its surroundings and perform physical tasks. The document outlines the history of robots from ancient imaginings to modern usage of the term by Karel Capek in 1920. It discusses Isaac Asimov's three laws of robotics and provides examples of different types of robots including industrial, military, medical, and domestic robots. It describes robot components and the robot control loop of sensing, thinking, and acting. It discusses advantages and disadvantages of robots.
The term "robot" derives from the Czech word for forced labor or servitude. It was first used in a 1920 play by Karel Capek to describe artificial workers. The document then provides definitions of a robot as a machine that can be programmed to perform human tasks, and of robotics as the study of robot design, construction, and use.
The document provides an introduction to robotics, defining a robot as a machine that senses its environment and produces actions based on sensory input. It discusses the basic components of robots including embodiment, control, and applications in fields like manufacturing, medical, rescue and more. Additionally, it outlines the basic roadmap of robotics including engineering, control theory, autonomous control, and learning/adaptation.
The document provides an introduction to robotics. It discusses the differences between computers/machines and humans, describing machines as precisely performing tasks while lacking common sense, and humans as capable of understanding and reasoning. It defines a robot as a machine that can obtain information from its surroundings and perform physical tasks. The document outlines the history of robots from ancient imaginings to modern usage of the term by Karel Capek in 1920. It discusses Isaac Asimov's three laws of robotics and provides examples of different types of robots including industrial, military, medical, and domestic robots. It describes robot components and the robot control loop of sensing, thinking, and acting. It discusses advantages and disadvantages of robots.
The term "robot" derives from the Czech word for forced labor or servitude. It was first used in a 1920 play by Karel Capek to describe artificial workers. The document then provides definitions of a robot as a machine that can be programmed to perform human tasks, and of robotics as the study of robot design, construction, and use.
This document discusses robotics and robotic history. It defines a robot as a re-programmable machine that can perform tasks in place of humans. The word "robot" was introduced in a 1920 play and the term "robotics" was coined in the 1940s. The first digital and programmable robot was invented by George Devol in 1954. The document outlines the typical components of industrial robots and describes common types of robots including mobile, stationary, autonomous, and virtual robots. It discusses potential applications and limitations of robotics. In the future, robots may be used to explore space, perform dangerous tasks, and work continuously.
This document discusses the history and types of robots. It notes that the term "robotics" was first used by Karel Capek in the 1920s to describe artificial workers. Isaac Asimov later proposed three laws of robotics to ensure robots do not harm humans. The first industrial robot was Unimate, which was installed in a GM plant in the 1960s to perform dangerous jobs. The document then describes the main components of industrial robots like sensors, effectors, actuators, controllers, and arms. It also discusses different types of robots including mobile, stationary, autonomous, and virtual robots.
The document discusses space robots and their importance. It provides an overview of how space robots work using the SPA (sense, plan, action) algorithm. It describes the key components of space robots including manipulators, end effectors, actuators, and sensors. The document outlines challenges in designing space robots and discusses types including planetary rovers, orbit operators, probes, and astronauts assistance robots. It covers examples like the Mars Exploration Rovers. The document also discusses advantages, disadvantages, applications, and the future of more autonomous space robots.
Presentation de projet en Automatiqie (regulation par PID)Mohammed Boujida
Durant le programme de la licence Pro. Automatique Informatique industrielle, l’ensemble des étudiants ont une partie consacrée au projet tuteuré afin de mettre en pratique les connaissances théoriques et pratiques acquissent pondant la formation initiale.
Les projets tuteurés sont un moyen de nous plonger dans la vie préprofessionnelle en nous permettant de découvrir ce qu’est le travail de groupe, l’implication d’autrui sur notre travail comme par exemple des conseils ou des remarques sur une bannière ou une mise en forme, les choix du commanditaire et ses attentes et surtout de devoir livrer un produit dans un temps imparti.
Ailleurs, nous avons choisi le projet Commande par PID, tuteur M. Michel ZASADZINSKI à l’IUT de Longwy Henri Poincaré.
Robotics is the branch of technology that deals with the design, construction, operation, and application of robots. A robot is usually an electro-mechanical machine that can be programmed and guided by a computer to perform tasks automatically. Isaac Asimov popularized the three laws of robotics: 1) a robot cannot harm a human, 2) a robot must obey human orders unless they conflict with the first law, and 3) a robot must protect its own existence as long as it does not conflict with the first two laws. Common robot projects include line-following robots, wall-following robots, and robots that use sensors like IR sensors, temperature sensors, and timers.
The document discusses the history and basics of robotics. It defines a robot and outlines some of the first robots developed. It describes different types of robots like pick and place, continuous path control, and sensory robots. It discusses robot components like sensors, actuators, and power sources. It also summarizes applications of robots in dangerous, dull, or precise tasks.
A robot is an automatically controlled machine that can be programmed to carry out tasks on its own. The field of robotics involves designing, building, and programming robots. Robots are used for tasks that are hazardous, repetitive, or require precision as they can work faster and more accurately than humans. Some key parts of robots include sensors that receive input, effectors and actuators that allow movement, and controllers that direct the robot's behavior. While robots have benefits, they also present issues like potential job losses or use for harmful purposes that need to be addressed.
This document describes a vision assisted pick and place robotic arm guided by image processing concepts for object sorting. It discusses introducing a robotic arm that can pick objects from one location and place them in another using machine vision. The document covers concepts like image acquisition, processing, object identification, and control signal transfer. It provides details on how a webcam captures images that are converted to grayscale and binary before edge detection and other processing to find object boundaries and centroids. This allows generating control signals to guide the robotic arm via a controller. Applications are in automated industries like assembly and potential enhancements are also discussed.
Discours de fleur pellerin lancement d'une nouvelle dynamique pour l'innova...Startup et Innovation
Discours de fleur pellerin lancement d'une nouvelle dynamique pour l'innovation française, au rendez-vous des écosystèmes de l'innovation - mercredi 23 octobre 2013
This document discusses robots and their applications. It begins with a definition of a robot as a re-programmable, multifunctional machine that can replace humans in hazardous work. It then provides a brief history of robots, including the origin of the term "robotics" and Isaac Asimov's Three Laws of Robotics. The document outlines the major components of robots and different types, including mobile, stationary, autonomous, and remote-controlled robots. It discusses several applications of robots, such as industrial uses like welding and painting, medical uses like robotic surgery, military uses like bomb disposal and defense systems, and their use in space research.
This document discusses robotics and robotic history. It defines a robot as a re-programmable machine that can perform tasks in place of humans. The word "robot" was introduced in a 1920 play and the term "robotics" was coined in the 1940s. The first digital and programmable robot was invented by George Devol in 1954. The document outlines the typical components of industrial robots and describes common types of robots including mobile, stationary, autonomous, and virtual robots. It discusses potential applications and limitations of robotics. In the future, robots may be used to explore space, perform dangerous tasks, and work continuously.
This document discusses the history and types of robots. It notes that the term "robotics" was first used by Karel Capek in the 1920s to describe artificial workers. Isaac Asimov later proposed three laws of robotics to ensure robots do not harm humans. The first industrial robot was Unimate, which was installed in a GM plant in the 1960s to perform dangerous jobs. The document then describes the main components of industrial robots like sensors, effectors, actuators, controllers, and arms. It also discusses different types of robots including mobile, stationary, autonomous, and virtual robots.
The document discusses space robots and their importance. It provides an overview of how space robots work using the SPA (sense, plan, action) algorithm. It describes the key components of space robots including manipulators, end effectors, actuators, and sensors. The document outlines challenges in designing space robots and discusses types including planetary rovers, orbit operators, probes, and astronauts assistance robots. It covers examples like the Mars Exploration Rovers. The document also discusses advantages, disadvantages, applications, and the future of more autonomous space robots.
Presentation de projet en Automatiqie (regulation par PID)Mohammed Boujida
Durant le programme de la licence Pro. Automatique Informatique industrielle, l’ensemble des étudiants ont une partie consacrée au projet tuteuré afin de mettre en pratique les connaissances théoriques et pratiques acquissent pondant la formation initiale.
Les projets tuteurés sont un moyen de nous plonger dans la vie préprofessionnelle en nous permettant de découvrir ce qu’est le travail de groupe, l’implication d’autrui sur notre travail comme par exemple des conseils ou des remarques sur une bannière ou une mise en forme, les choix du commanditaire et ses attentes et surtout de devoir livrer un produit dans un temps imparti.
Ailleurs, nous avons choisi le projet Commande par PID, tuteur M. Michel ZASADZINSKI à l’IUT de Longwy Henri Poincaré.
Robotics is the branch of technology that deals with the design, construction, operation, and application of robots. A robot is usually an electro-mechanical machine that can be programmed and guided by a computer to perform tasks automatically. Isaac Asimov popularized the three laws of robotics: 1) a robot cannot harm a human, 2) a robot must obey human orders unless they conflict with the first law, and 3) a robot must protect its own existence as long as it does not conflict with the first two laws. Common robot projects include line-following robots, wall-following robots, and robots that use sensors like IR sensors, temperature sensors, and timers.
The document discusses the history and basics of robotics. It defines a robot and outlines some of the first robots developed. It describes different types of robots like pick and place, continuous path control, and sensory robots. It discusses robot components like sensors, actuators, and power sources. It also summarizes applications of robots in dangerous, dull, or precise tasks.
A robot is an automatically controlled machine that can be programmed to carry out tasks on its own. The field of robotics involves designing, building, and programming robots. Robots are used for tasks that are hazardous, repetitive, or require precision as they can work faster and more accurately than humans. Some key parts of robots include sensors that receive input, effectors and actuators that allow movement, and controllers that direct the robot's behavior. While robots have benefits, they also present issues like potential job losses or use for harmful purposes that need to be addressed.
This document describes a vision assisted pick and place robotic arm guided by image processing concepts for object sorting. It discusses introducing a robotic arm that can pick objects from one location and place them in another using machine vision. The document covers concepts like image acquisition, processing, object identification, and control signal transfer. It provides details on how a webcam captures images that are converted to grayscale and binary before edge detection and other processing to find object boundaries and centroids. This allows generating control signals to guide the robotic arm via a controller. Applications are in automated industries like assembly and potential enhancements are also discussed.
Discours de fleur pellerin lancement d'une nouvelle dynamique pour l'innova...Startup et Innovation
Discours de fleur pellerin lancement d'une nouvelle dynamique pour l'innovation française, au rendez-vous des écosystèmes de l'innovation - mercredi 23 octobre 2013
This document discusses robots and their applications. It begins with a definition of a robot as a re-programmable, multifunctional machine that can replace humans in hazardous work. It then provides a brief history of robots, including the origin of the term "robotics" and Isaac Asimov's Three Laws of Robotics. The document outlines the major components of robots and different types, including mobile, stationary, autonomous, and remote-controlled robots. It discusses several applications of robots, such as industrial uses like welding and painting, medical uses like robotic surgery, military uses like bomb disposal and defense systems, and their use in space research.
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
This paper presents a load estimation method using a mechanochromic hydrogel sheet. The structural color of the gel is changed depending on the applied pressure to the gel sheet. The proposed load estimator based on the combined approaches with image features and machine learning can detect the applied load from the captured images of the gel sheet. The extracted image features of the color images of the gel sheet are superimposed on the captured initial images. By using the superimposed images as input to the machine learning system, we improve the success rate and precision of the load estimation. The experimental results show that the estimator recognizes the applied force with every 100 gf from 0 to 1,000.
第26回ロボティクス・シンポジア オーバーナイトセッション「どうするどうなるオンライン学会発表!画面越しでも楽しむ100の方法」で話題提供した,オンラインサービスのまとめです.
A survey of web services for on-line academic conferences. For example, I pick up services for video chat or web meeting, services for texting, environments for virtual reality, webinars, and broadcasting.
This paper presents a homogeneous evaluation of difficulty of moving attributed to both geometrical and mechanical constraints. Although caging grasp usually considers to confine an object geometrically by surrounding robots, it is not always feasible due to limitation of robots such as few number of robots or fingers. Such incomplete caging is often called as partial caging, and in which the object can escape from the cage of robots. And then the object is prevented from moving by both geometrical constraints and mechanical effects. The former can be discussed with arrangements of robots and environments, and the latter is investigated with static/dynamic analyses of contact forces. This paper addresses both different indexes homogeneously based on robustness measure for grasping and contact tasks. We introduce a novel interpretation for evaluation of complete/partial caging quality, and show some numerical examples.
Keywords: Manipulation, Grasping, Caging, Force analysis
This paper proposes a motion classification with electromyogram for twisting manipulation, which is composed
of flexion/expansion and pronation/supination. Instead of attaching a set of electrodes at the surfaces on each target muscle, we adopt a commercial arm-band-type electrodes array with focusing on wearability. A typical signal processing, Integrated Electromyogram, and a classifier, Support Vector Machine, are employed to analyze eight channels of electromyogram for six hand actions. We experimentally investigate the accuracy of classification in real-time and interference of muscle fatigue. Since each pattern of electromyogram for a particular action is changed by posture of upper limb, its interference as noises are also investigated.
本研究では幾何学的拘束と力学的拘束を同時に評価する手法を提案する.ケージングは対象物をロボットで囲い込み,抜け出せないように拘束する手法である.物体の囲い込みが不完全なとき,対象物はロボットが障害物となる幾何学的拘束と,重力などの力学的作用との両方によって運動しにくくなる.本論文ではマニピュレーションのロバスト性評価に基づいて,幾何学的拘束を力学解析の枠組みで評価できる解釈を示す.いくつかの数値例を以て,その有用性を検証する.
This paper presents a novel measurement method for caging quality based on static analysis of robotic grasping and manipulation. Caging is a geometrical constraint of objects in which they captured by surrounding robots are restricted to move in the bounded space. In cases of partially caged objects, simultaneous evaluation of both caging quality and force closure is required, and we propose one based on the robustness measure of grasping and manipulation. Some numerical results are presented to validate our proposed procedure of evaluation.
牧原 昂志,槇田 諭,第24回ロボティクスシンポジア,pp. 189-192,2019年3月15日.
Abstract --- This paper introduces a community for young researchers in robotics, HUROBINT (HUman and ROBot INTeraction) and its social activities. Additionally it addresses importance and merit of science communication with citizens and researchers in other fields. The HUROBINT community helps young researchers make collaborators who join their research projects and other activities. And it provides us with good opportunities to make friends in the same fields. Social activities and science communication are essentially parts of research activities, and they contribute to not only widely spread our achievement but also provide us with interdisciplinary viewpoints. Making social network and implementation of out-reaching will give us fruitful effects on robotics researches that are going to be highly complicated day by day.
For sightseeing, Northern Kyushu, Japan, has excellent cities and cultures! From Hakata, Fukuoka, which is the largest city in Kyushu, most of the cities in Kyushu can be easily reached by train or bus.
Using telepresence robots and video conferencing systems, researchers aimed to address social issues faced by remote island communities by increasing educational opportunities. The robots allowed virtual tours of research labs and museums located hundreds of kilometers away. Live streaming and video conferencing were also used to broadcast forums and discussions. The goal was to cancel geographical barriers and provide more communication and learning opportunities for children and others living in small, remote islands.
4. OK OK
Around motion planning - Grasp planning
ケージング / Caging
把持対象物を幾何学的に
閉じ込めて拘束
多少の位置ずれ,
制御誤差を許容
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
4
5. OK OK
Caging a ring-like object
S. Makita, K. Okita and Y. Maeda: ``3D Two-Fingered Caging for Two Types of Objects: Sufficient
Conditions and Planning,'' Int. J. of Mechatronics and Automation, vol. 3, no. 4, pp. 263--277, Dec 2013.
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
5
6. OK OK
Manipulation planning
K. Makihara, T. Otsubo, and S. Makita: ``Through-hole Detection and Finger Insertion Planning as Preceding
Motion for Hooking and Caging a Ring,'' J. of Robotics and Mechatronics, Vol .35, No. 3, pp.734--742, Jun. 2023.
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
6
Perception and planning
7. OK OK
Task Planning
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
7
藤木,鉢峰,槇田: ``サッシ様平板の溝はめ込み作業における挿入枠の位置・姿勢推定と挿入動作計画'',
日本ロボット学会誌,Vol. 42,No. 2,pp. 159--167,Apr. 2024.
8. OK OK
Sash insertion planning
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
8
Width and
depth of groove
(given)
B E
Thickness
(given)
A
Depth image Frame detection Pose estimation
Insertion planning
by A-star algorithm
9. OK OK
Toward secure manipulation
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
9
本田,槇田:単腕マニピュレータによる複数物体の
同時組み立ての基礎的考察,ROBOMECH2024
濵田,槇田:ロボットマニピュレーションにおける非接触
な幾何学的拘束の効果をポテンシャルエネルギーに基づい
て評価する手法,日本ロボット学会誌,2024.
10. OK OK
Table of Contents
• Self introduction
• Task planning and motion planning
• Motion planning methods in ROS (MoveIt!)
• Motion planning in robotic manipulation
• Configuration space
• Manipulability
• Summary
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
10
11. OK OK
Task planning and motion planning
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
11
12. OK OK
ICRA 2024
Sessions including “planning”: 23/455 (34*3+26*3+32+32+31 session!)
Planning under Uncertainty
Motion and Path Planning
Aerial Systems: Motion Control and Planning
Manipulation Planning
Path Planning for Multiple Mobile Robots or Agents
Task Planning
Task and Motion Planning
Reactive and Sensor-Based Planning
Integrated Planning and Control
Integrated Planning and Learning
Human-Aware Motion Planning
Whole-Body Motion Planning and Control
Planning, Scheduling and Coordination
Motion Analysis and Planning
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
12
14. OK OK
Task planning?
Task and symbolic planning
Motion planning
Force and torque
control
State
classification and
detection
Motion planning
Force and torque
control
State
classification and
detection
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
14
Wan, W., Harada, K., & Nagata, K. (2018). Assembly sequence planning for motion planning.
Assembly Automation, 38(2), 195–206. https://doi.org/10.1108/AA-01-2017-009
High
Level
Middle
Level
Low
Level
15. OK OK
Task planning?
Task and symbolic planning in
the high level
Motion
planning
Force and
torque
control
State
classification
and
detection
Motion
planning
Force and
torque
control
State
classification
and
detection
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
15
What
to do?
How to
move?
16. OK OK
From Task planning to motion control
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
16
Motion
Planning
ロボットはどのような行動をすべきか?
行動を実現できるロボットの動きはどのようなものか?
ロボットの動きを実現できる制御則,制約条件は何か?
17. OK OK
Manipulation planning
Perception and Recognition
Decision making
↓
Grasp planning
Manipulation planning
↓
Motion control strategy
Manipulator motion
Fingers motion
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
17
High
Level
Middle
Level
Low
Level
18. OK OK
Motion planning in ROS (MoveIt)
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
18
19. OK OK
https://moveit.ros.org
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
19
David Coleman, Ioan A. Șucan, Sachin Chitta, Nikolaus Correll, Reducing the Barrier to Entry of Complex
Robotic Software: a MoveIt! Case Study, Journal of Software Engineering for Robotics, 5(1):3–16, May 2014.
doi: 10.6092/JOSER_2014_05_01_p3.
20. OK OK
Planners in MoveIt
• Open Motion Planning Library (OMPL)
• Pilz Industrial Motion Planner
• Stochastic Trajectory Optimization for Motion Planning
(STOMP)
• Search-Based Planning Library (SBPL)
• Covariant Hamiltonian Optimization for Motion Planning
(CHOMP)
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
20
22. OK OK
Planners in OMPL
• Geometric planners
幾何学的制約のある動作計画
PRM and its expansions
RRT and its expansion
and more
• Control-based planners
時間制約のある動的な動作計画
• Multilevel-based planners
より高次元空間での動作計画
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
22
Random sampling
Initial
configuration
Goal
configuration
23. OK OK
Randomly-exploring Random Trees (RRT)
ランダムサンプリングに基づくグラフ構造生成
高次元に強い
さまざまな空間の問題に適用可能
シンプルなアルゴリズム
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
23
Lavalle, S. M.: Rapidly-Exploring Random Trees: A New Tool for Path Planning,
The annual research report, Dept. of Computer Science, Iowa State University, 1998.
24. OK OK 24/6
4
RRTによる経路探索
Random sampling
Collision check
Initial
configuration
Satisfying
Sufficient conditions
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
• 枝を伸ばす量
• ノルム(距離)の計算法
• ゴールのわかっている場合
25. OK OK
RRT on Unity (3D space)
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
25
https://github.com/smakita/RRT_on_Unity
26. OK OK
Searching configuration space
直交空間で探索するか?関節空間で探索するか?
2次元平面 → 3次元C空間(位置2自由度,姿勢1自由度)
3次元空間 → 6次元C空間(位置3自由度,姿勢3自由度)
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
26
obstacle
: OK
: OK
: NG
27. OK OK
直交空間での探索
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
27
Collision
check
Initial
configuration
obstacle
• モーションが直観的
• 逆運動学解法が課題
↓
経由点(waypoint)間を
接続できない場合がある
31. OK OK 31/6
4
RRTによる逆運動学解法
Random sampling
Forward kinematics
check
previous
joint variables 𝜽𝜽𝒊𝒊
Goal
joint variables 𝜽𝜽𝑖𝑖+1
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
32. OK OK
課題:特異点,特異姿勢 / Singularity point
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
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https://www.youtube.com/watch?v=6Wmw4lUHlX8
38. OK OK
Manipulability / 可操作性
ロボットマニピュレータの動作しやすさを示す指標
𝑤𝑤 = det 𝑱𝑱 𝜽𝜽 𝑱𝑱𝑇𝑇 𝜽𝜽
𝑱𝑱 ∈ ℝ𝑚𝑚×𝑛𝑛: ヤコビ行列
𝜽𝜽 ∈ ℝ𝑛𝑛: 関節変数
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
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𝑛𝑛 DOF manipulator
in 𝑚𝑚-dimensional Euclidean space
Yoshikawa, T. (1985). Manipulability of Robotic Mechanisms.
International Journal of Robotics Research, 4(2), 439–446.
39. OK OK
Considering manipulability
位置・姿勢推定精度は悪くないのに!計画・動作に失敗する問題
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
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D(Rotate CCW
about Y-axis)10/10
C(Rotate CW
about X-axis)2/10
B(Rotate CCW
about X-axis)7/10
A(Standing vertically)
10/10
H(Rotate about
X-axis and Y-axis)9/10
G(Rotate CW
about Z-axis)9/10
F(Rotate CCW
about Z-axis)9/10
E(Rotate CW
about Y-axis)9/10
relatively low
Depth Camera
Target frame
Sash-like plate
藤木,鉢峰,槇田: ``サッシ様平板の溝はめ込み作業における挿入枠の位置・姿勢推定と挿入動作計画'',
日本ロボット学会誌,Vol. 42,No. 2,pp. 159--167,Apr. 2024.
40. OK OK
Considering manipulability
Pattern
B (Short
distance)
B (Long
distance)
C (Short
distance)
C (Long
distance)
Succeed insertion
motion 53% 83% 33% 87%
Suspend
transition to the
next waypoint
37% 3% 0% 0%
Be aborted during
moving between
waypoints
0% 0% 0% 7%
Fail to plan 10% 13% 67% 0%
Manipulability 0.0116 0.0212 0.0165 0.0226
Short distance
-> Low manipulability
Long distance
-> High manipulability
High manipulability leads higher success rates and fewer failures.
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
40
41. OK OK
• Workspace の確保
可操作性
ロボットのリーチング
可搬重量(姿勢依存)
特異点回避
ビジョン・測距センサの
計測レンジ
モーションプランニングする前に
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
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F. Suárez-Ruiz and Q. -C. Pham: “A framework for fine robotic assembly,”
Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 421–426, 2016.
42. OK OK
Planning for robotic manipulation
• どのレベルのプランニング?
Task and symbolic planning
Motion planning
Force and torque control, state classification and detection
• Kinematics and workspace
探索空間と自由度の決定
Forward and inverse kinematics
Manipulability
Singularity
ROS Japan UG #55 Planner特集!「ロボットマニピュレーションの作業・動作計画」
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What to do?
How to move?
Enjoy motion planning!