Simulation-based optimal motion planning for deformable object
Simulation-based optimal motion planning for deformable object
复制标题
基于仿真的变形物体最优运动规划
DOI：
10.1109/arso.2015.7428219
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
A. Kheddar
中科院分区：
文献类型：
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作者：
E. Yoshida;Ko Ayusawa;I. Ramirez;K. Harada;Christian Duriez;A. Kheddar
提出了一种基于有限元精确仿真的柔性物体运动规划方法。所提出的方法适用于环形物体的机器人手臂，这是经常看到在各种应用。由于隐含大变形，因此具有真实仿真的装配规划对于确保机器人的任务效率并避免物体损坏非常重要。我们首先验证了双臂操作的环形物体的行为是很好地预测使用弯曲梁的有限元模型，通过模拟沿着的轨迹计算基于优化的运动规划先前报道。其次，一个精确的有限元模型被集成到优化计算机器人手的轨迹最小化变形能量，以及满足这些标准，如碰撞避免和平滑。由于直接计算导致巨大的计算成本，我们提出了一个现实的公式，将规划问题转化为静态平衡问题的几个有限元模型位于沿着轨迹。仿真结果表明，该方法是有前途的，这样的装配任务，需要大变形。
This paper presents a method for planning motions of a flexible objects based on precise simulation using Finite Element Method (FEM). The proposed method is applied to ring-shape objects manipulated by robot arms, which is often seen in various applications. Since large deformation is implied, assembly planning with realistic simulation is important to ensure task efficiency for the robot and also to avoid damage of the object. We first verify that the behavior of a ring-shape object by dual-arm manipulation is well predicted using FEM model of bent beam through a simulation along the trajectory computed by optimization-based motion planning previously reported. Next, a precise FEM model is integrated into optimization to compute a trajectory of robot hands minimizing the deformation energy as well as satisfying such criteria as collision avoidance and smoothness. Since the direct computation leads huge computational cost, we present a realistic formula which transforms the planning problem into the static equilibrium problem of several FEM models located along the trajectory. Simulation results show that the proposed method is promising for such assembly tasks requiring large deformation.