Learning and Planning for Industrial Robotic Manipulation- [electronic resource]
Learning and Planning for Industrial Robotic Manipulation- [electronic resource]
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214095910
- ISBN
- 9798380621755
- DDC
- 621
- 저자명
- Jin, Shiyu.
- 서명/저자
- Learning and Planning for Industrial Robotic Manipulation - [electronic resource]
- 발행사항
- [S.l.]: : University of California, Berkeley., 2021
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2021
- 형태사항
- 1 online resource(99 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-04, Section: B.
- 주기사항
- Advisor: Tomizuka, Masayoshi.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Berkeley, 2021.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약Industrial robot manipulators are widely deployed in various manufacturing tasks. Compared with human workers, industrial robot manipulators have advantages in terms of precision, efficiency, and repeatability. But it often requires tremendous engineering efforts to set up and program the manipulator for a specific task. The deficiency of intelligence restricts robots from broader applications. Therefore, it becomes more and more important to enable robots to acquire skills that can accomplish complex tasks and generalize across different scenarios. This dissertation aims to develop skill learning and planning methods for industrial robotic manipulation. We study 1) how to learn manipulation skills when there are uncertainties in the object state estimation, 2) how to generalize the manipulation skills across different scenarios, 3) how to achieve high-level task planning for long-horizon manipulation tasks.Robotic manipulation of both rigid and deformable objects is studied in this dissertation. To manipulate rigid objects, a contact pose identification method is proposed to compensate for the pose uncertainties in the peg-in-hole assembly. In addition to rigid objects, the manipulation of deformable objects is also studied. A tracking and manipulation framework is proposed to robustly estimate the state of the cable and manipulate the cable to desired shapes. For more complex cable manipulation tasks, which often require long-horizon planning, a spatial representation is proposed to model the spatial relationship between the cable and environment fixtures. Multiple manipulation primitives are efficiently learned to configure the cable to desired states. For the task that combines both assembly and deformable object manipulation, a trajectory optimization with complementarity constraints is formulated to model the hybrid dynamics in belt drive units assembly. The problem is solved as a mathematical program with complementarity constraints to obtain feasible and efficient assembly trajectories.
- 일반주제명
- Mechanical engineering.
- 일반주제명
- Robotics.
- 키워드
- Machine learning
- 키워드
- Industrial robot
- 기타저자
- University of California, Berkeley Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 85-04B.
- 기본자료저록
- Dissertation Abstract International
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