机械臂对未知绳索的抛投操作
Casting manipulation of unknown string by robot arm
AI总结：
针对专用抛投操作器无法完成常规任务的问题，提出普通机械臂拾取未知绳索实现抛投操作的方法，通过仿真运动生成、实际操作、参数估计三步迭代逼近真实运动，经实验验证有效，可提升多类机器人性能。
摘要：
抛投操作（casting manipulation）的研究旨在拓展机器人的可移动范围。在这类操作中，机器人将末端执行器抛出并送达远处目标。通常，为实现高效的抛投操作，需要构建由刚性臂杆和特定柔性线状物体组成的专用抛投操作器。但这类专用操作器无法完成拾取放置、抓取、物体操作等常规任务。我们提出，可执行常规任务的普通机械臂能够拾取周围环境中的未知绳索，并借助其实现抛投操作。由于绳索属性未预先提供，如何将其特性融入抛投操作是关键问题。我们通过三个步骤实现该目标：结合绳索运动仿真的机械臂运动生成、机械臂的实际绳索操作，以及根据实际绳索运动估计绳索参数。重复这三个步骤后，仿真绳索运动将逼近实际运动，从而实现未知绳索的抛投操作。我们通过实验验证了所提方法的有效性。本研究的尝试将有助于提升家用服务机器人、勘探机器人、救援机器人及娱乐机器人的性能。
英文摘要：
Casting manipulation has been studied to expand the robot's movable range. In this manipulation, the robot throws and reaches the end effector to a distant target. Usually, a special casting manipulator, which consists of rigid arm links and specific flexible linear objects, is constructed for an effective casting manipulation. However, the special manipulator cannot perform normal manipulations, such as picking and placing, grasping, and operating objects. We propose that the normal robot arm, which can perform normal tasks, picks up an unknown string in the surrounding environment and realizes casting manipulation with it. As the properties of the string are not provided in advance, it is crucial how to reflect it in casting manipulation. This is realized by the motion generation of the robot arm with the simulation of string movement, actual string manipulation by the robot arm, and string parameter estimation from the actual string movement. After repeating these three steps, the simulated string movement approximates the actual to realize casting manipulation with the unknown string. We confirmed the effectiveness of the proposed method through experiments. The try of this study will lead to enhancement of the performance of home service robot, exploration robot, rescue robot and entertainment robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
