Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks
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The document discusses a method for planning base positions for dual-arm mobile manipulators undertaking sequential pick-and-place tasks, focusing on minimizing the number of movements and travel distance. It details the use of inverse kinematics, stable grasp considerations, and optimization techniques, including branch and bound and simulated annealing, to enhance efficiency in object retrieval. Numerical examples illustrate the potential of this method in optimizing dual-arm operations in a defined workspace.
![DEFINITION
P1 P2 P3 P4 P5 P6
P = [P1 P2 P3 P4 P5 P6]
P2P1∩ P3P2∩ P4P3∩ P6P5∩
s=[ 1, 2, 3, 4, 5, 6, (1,2), (2,3), (3,4), (5,6)]
=[ s1, s2, s3, s4, s5, s6, s7, s8, s9, s10]](https://image.slidesharecdn.com/2015humanoids-160112234551/85/Base-Position-Planning-for-Dual-arm-Mobile-Manipulators-Performing-a-Sequence-of-Pick-and-place-Tasks-22-320.jpg)
![RESULTS
1st Base Position : Pick an Object from Boxes 1 and 2
2nd Base Position : Pick an Object from Boxes 3 and 4
Distance between Two Boxes : 0.4 [m]](https://image.slidesharecdn.com/2015humanoids-160112234551/85/Base-Position-Planning-for-Dual-arm-Mobile-Manipulators-Performing-a-Sequence-of-Pick-and-place-Tasks-27-320.jpg)
![RESULTS
Distance between Two Boxes : 0.8 [m]
1st Base Position : Pick an Object from Box 1
2nd Base Position : Pick an Object from Box 2
3rd Base Position : Pick an Object from Box 3
4th Base Position : Pick an Object from Box 4](https://image.slidesharecdn.com/2015humanoids-160112234551/85/Base-Position-Planning-for-Dual-arm-Mobile-Manipulators-Performing-a-Sequence-of-Pick-and-place-Tasks-28-320.jpg)
Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks
- 1. Kensuke Harada∗1, Tokuo Tsuji∗2, Kohei Kikuchi∗3 Kazuyuki Nagata∗1, Hiromu Onda∗1, Yoshihiro Kawai∗1 ∗1 National Inst. of AIST ∗2 Kyushu Univ. ∗3 Toyota Motors Co. Ltd. National Institute of Advanced Industrial Science and Technology (AIST) Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks
- 2. INTRODUCTION Parts Supply Task Collect necessary parts from the storage area Determine a sequence of the base position Selective Use of Two Hands Can Reduce the Number of Sequence Dual-arm Mobile Manipulator Performing Parts-Supply Task
- 3. OVERVIEW OF PROPOSED METHOD Dual-arm mobile manipulator collects one part from each box. Shipping Carton Example
- 4. OVERVIEW OF PROPOSED METHOD Region on base position where right hand can grasp an object in the box 1 Region on base position where left hand can grasp an object in the box 1
- 5. OVERVIEW OF PROPOSED METHOD Obtain region on base position for all the boxes
- 6. OVERVIEW OF PROPOSED METHOD Obtain a sequence of base position
- 7. OVERVIEW OF PROPOSED METHOD Minimize : Number of Sequence and Travel Distance Common Area of Base position: ・Left Hand Picks an Object in the Box 1 ・Right Hand Pick an Object in the Box 2 Minimizing the travel distance
- 8. FEATURES OF PROPOSED METHOD • Objects stored in a box is known • The number and the pose are not known • Stable grasp • Collision avoidance when grasping • Minimizing the number of sequence • Minimizing the travel distance Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks
- 9. RELATED WORKS Base Position for Mobile Manipulator Maximizing the Manipulability F.G.Pin et al. (1990), H. Seragi et al. (1993), K. Tchon et al. (2000) 等 Base Position Considering the Stable Grasp R. Diankov et al. (2008), N. Vahrenkamp et al. (2012) Manipulation Planner for Dual-arm Manipulator Y. Koga et al. (1994), J.-P. Saut et al. (2010), K. Harada et al. (2012)
- 10. IN THIS PRESENTATION 1. Inverse Kinematics Considering the Stable Grasp 2. Region on Mobile Base 3. Formulation of Optimization Problem 4. Numerical Examples
- 11. INVERSE KINEMATICS CONSIDERING THE STABLE GRASP（1/3） Collision Avoidance Joint Limit Ellipsoidal Approximation of Links and Environments Using EQuadProg++ QP Problem to Obtain Joint Velocity
- 12. INVERSE KINEMATICS CONSIDERING THE STABLE GRASP（2/3） Grasping Posture Database • Quadratic Approximation of Object Surface • Grasp Planning • Construction of Grasping Posture Database
- 13. INVERSE KINEMATICS CONSIDERING THE STABLE GRASP（3/3） 1. Connect Initial Pose and 1st Data using Straight Line Segment 2. Split Segment into Small Steps 3. Solve QP Problem for Each Step 4. If QP problem does not have solution, proceed to next data Search for the Grasping Posture Database
- 14. IN THIS PRESENTATION 1. Inverse Kinematics Considering the Stable Grasp 2. Region on Mobile Base 3. Formulation of Optimization Problem 4. Numerical Examples
- 15. REGION ON MOBILE BASE Object pose is not known Mobile Base Pose Stably Grasping of an Object Discretize the Box / Moving Area
- 16. REGION ON MOBILE BASE Searching Algorithm STEP1 Base Pose Stably Grasping All Objects in the Box Using Multi-thread
- 17. REGION ON MOBILE BASE Searching Algorithm STEP1 STEP2 Checking Neighboring Points Base Pose Stably Grasping All Objects in the Box
- 18. REGION ON MOBILE BASE STEP1 STEP2 Checking Neighboring Points Base Pose Stably Grasping All Objects in the Box Searching Algorithm
- 19. REGION ON MOBILE BASE Searching Algorithm STEP1 STEP2 Checking Neighboring Points Base Pose Stably Grasping All Objects in the Box
- 20. REGION ON MOBILE BASE Searching Algorithm STEP1 STEP2 Checking Neighboring Points Base Pose Stably Grasping All Objects in the Box
- 21. IN THIS PRESENTATION 1. Inverse Kinematics Considering the Stable Grasp 2. Region on Mobile Base 3. Formulation of Optimization Problem 4. Numerical Examples
- 22. DEFINITION P1 P2 P3 P4 P5 P6 P = [P1 P2 P3 P4 P5 P6] P2P1∩ P3P2∩ P4P3∩ P6P5∩ s=[ 1, 2, 3, 4, 5, 6, (1,2), (2,3), (3,4), (5,6)] =[ s1, s2, s3, s4, s5, s6, s7, s8, s9, s10]
- 23. FORMULATION Which Area to Visit 0-1 Knapsack Problem Minimizing: Number of Sequence Branch and Bound (BB) Method Number of Sequence
- 24. FORMULATION Order of Area to Visit Minimizing: Traveling Distance Traveling Salesman Problem Simulated Annealing
- 25. EXAMPLES Discretizing Box Area Region on Mobile Base Realizing the Stable Grasp Region (Grasped by Left Hand) Nextage + Mobile Base Region (Grasped by Right Hand)
- 26. RESULTS Distance between Two Boxes : 0 1st Base Position ： Pick an Object from Boxes 1, 2, 3 and 4
- 27. RESULTS 1st Base Position : Pick an Object from Boxes 1 and 2 2nd Base Position : Pick an Object from Boxes 3 and 4 Distance between Two Boxes : 0.4 [m]
- 28. RESULTS Distance between Two Boxes : 0.8 [m] 1st Base Position : Pick an Object from Box 1 2nd Base Position : Pick an Object from Box 2 3rd Base Position : Pick an Object from Box 3 4th Base Position : Pick an Object from Box 4
- 29. EXAMPLES
- 30. 1st Base Position 2nd Base Position Initial Pose
- 32. CALCULATION TIME This method is to be used for offline calculation of base position
- 33. SUMMARY • A sequence of the base position is planned for dual-arm mobile manipulators performing multiple pick-and-place tasks. • A robot can selectively use either the right or the left hand to pick up an object and can minimize the sequence size of the base position. • A region on the base position is obtained where a robot can pick up an object placed anywhere in a box. • A sequence of base positions is obtained by combining the branch and bound and simulated annealing methods.