Task Planner for Simultaneous Fulfillment of Operational, Geometric and Uncertainty-Reduction Goals

Our ultimate goal in robot planning is to develop a planner which can create complete assembly plans given as input a high level description of assembly goals, geometric models of the components of the assembly, and a description of the capabilities of the work cell (including the robot and the sensory system). In this paper, we introduce SPAR, a planning system which reasons about high level operational goals, geometric goals and uncertainty-reduction goals in order to create assembly plans which consist of manipulations as well as sensory operations when appropriate. Operational planning is done using a nonlinear, constraint posting planner. Geometric planning is accomplished by constraining the execution of operations in the plan so that geometric goals are satisfied, or, if the geometric configuration of the world prevents this, by introducing new operations into the plan with the appropriate constraints. When the uncertainty in the world description exceeds that specified by the uncertainty-reduction goals, SPAR introduces either sensing operations or manipulations to reduce that uncertainty to acceptable levels. If SPAR cannot find a way to sufficiently reduce uncertainties, it does not abandon the plan. Instead, it augments the plan with sensing operations to be used to verify the execution of the action, and, when possible, posts possible error recovery plans, although at this point, the verification operations and recovery plans are predefined

Robot Visual Servoing Using Discontinuous Control

This work presents different proposals to deal with common problems in robot visual servoing based on the application of discontinuous control methods. The feasibility and effectiveness of the proposed approaches are substantiated by simulation results and real experiments using a 6R industrial manipulator. The main contributions are: - Geometric invariance using sliding mode control (Chapter 3): the defined higher-order invariance is used by the proposed approaches to tackle problems in visual servoing. Proofs of invariance condition are presented. - Fulfillment of constraints in visual servoing (Chapter 4): the proposal uses sliding mode methods to satisfy mechanical and visual constraints in visual servoing, while a secondary task is considered to properly track the target object. The main advantages of the proposed approach are: low computational cost, robustness and fully utilization of the allowed space for the constraints. - Robust auto tool change for industrial robots using visual servoing (Chapter 4): visual servoing and the proposed method for constraints fulfillment are applied to an automated solution for tool changing in industrial robots. The robustness of the proposed method is due to the control law of the visual servoing, which uses the information acquired by the vision system to close a feedback control loop. Furthermore, sliding mode control is simultaneously used in a prioritized level to satisfy the aforementioned constraints. Thus, the global control accurately places the tool in the warehouse, but satisfying the robot constraints. - Sliding mode controller for reference tracking (Chapter 5): an approach based on sliding mode control is proposed for reference tracking in robot visual servoing using industrial robot manipulators. The novelty of the proposal is the introduction of a sliding mode controller that uses a high-order discontinuous control signal, i.e., joint accelerations or joint jerks, in order to obtain a smoother behavior and ensure the robot system stability, which is demonstrated with a theoretical proof. - PWM and PFM for visual servoing in fully decoupled approaches (Chapter 6): discontinuous control based on pulse width and pulse frequency modulation is proposed for fully decoupled position based visual servoing approaches, in order to get the same convergence time for camera translation and rotation. Moreover, other results obtained in visual servoing applications are also described.Este trabajo presenta diferentes propuestas para tratar problemas habituales en el control de robots por realimentación visual, basadas en la aplicación de métodos de control discontinuos. La viabilidad y eficacia de las propuestas se fundamenta con resultados en simulación y con experimentos reales utilizando un robot manipulador industrial 6R. Las principales contribuciones son: - Invariancia geométrica utilizando control en modo deslizante (Capítulo 3): la invariancia de alto orden definida aquí es utilizada después por los métodos propuestos, para tratar problemas en control por realimentación visual. Se apuertan pruebas teóricas de la condición de invariancia. - Cumplimiento de restricciones en control por realimentación visual (Capítulo 4): esta propuesta utiliza métodos de control en modo deslizante para satisfacer restricciones mecánicas y visuales en control por realimentación visual, mientras una tarea secundaria se encarga del seguimiento del objeto. Las principales ventajas de la propuesta son: bajo coste computacional, robustez y plena utilización del espacio disponible para las restricciones. - Cambio de herramienta robusto para un robot industrial mediante control por realimentación visual (Capítulo 4): el control por realimentación visual y el método propuesto para el cumplimiento de las restricciones se aplican a una solución automatizada para el cambio de herramienta en robots industriales. La robustez de la propuesta radica en el uso del control por realimentación visual, que utiliza información del sistema de visión para cerrar el lazo de control. Además, el control en modo deslizante se utiliza simultáneamente en un nivel de prioridad superior para satisfacer las restricciones. Así pues, el control es capaz de dejar la herramienta en el intercambiador de herramientas de forma precisa, a la par que satisface las restricciones del robot. - Controlador en modo deslizante para seguimiento de referencia (Capítulo 5): se propone un enfoque basado en el control en modo deslizante para seguimiento de referencia en robots manipuladores industriales controlados por realimentación visual. La novedad de la propuesta radica en la introducción de un controlador en modo deslizante que utiliza la señal de control discontinua de alto orden, i.e. aceleraciones o jerks de las articulaciones, para obtener un comportamiento más suave y asegurar la estabilidad del sistema robótico, lo que se demuestra con una prueba teórica. - Control por realimentación visual mediante PWM y PFM en métodos completamente desacoplados (Capítulo 6): se propone un control discontinuo basado en modulación del ancho y frecuencia del pulso para métodos completamente desacoplados de control por realimentación visual basados en posición, con el objetivo de conseguir el mismo tiempo de convergencia para los movimientos de rotación y traslación de la cámara . Además, se presentan también otros resultados obtenidos en aplicaciones de control por realimentación visual.Aquest treball presenta diferents propostes per a tractar problemes habituals en el control de robots per realimentació visual, basades en l'aplicació de mètodes de control discontinus. La viabilitat i eficàcia de les propostes es fonamenta amb resultats en simulació i amb experiments reals utilitzant un robot manipulador industrial 6R. Les principals contribucions són: - Invariància geomètrica utilitzant control en mode lliscant (Capítol 3): la invariància d'alt ordre definida ací és utilitzada després pels mètodes proposats, per a tractar problemes en control per realimentació visual. S'aporten proves teòriques de la condició d'invariància. - Compliment de restriccions en control per realimentació visual (Capítol 4): aquesta proposta utilitza mètodes de control en mode lliscant per a satisfer restriccions mecàniques i visuals en control per realimentació visual, mentre una tasca secundària s'encarrega del seguiment de l'objecte. Els principals avantatges de la proposta són: baix cost computacional, robustesa i plena utilització de l'espai disponible per a les restriccions. - Canvi de ferramenta robust per a un robot industrial mitjançant control per realimentació visual (Capítol 4): el control per realimentació visual i el mètode proposat per al compliment de les restriccions s'apliquen a una solució automatitzada per al canvi de ferramenta en robots industrials. La robustesa de la proposta radica en l'ús del control per realimentació visual, que utilitza informació del sistema de visió per a tancar el llaç de control. A més, el control en mode lliscant s'utilitza simultàniament en un nivell de prioritat superior per a satisfer les restriccions. Així doncs, el control és capaç de deixar la ferramenta en l'intercanviador de ferramentes de forma precisa, a la vegada que satisfà les restriccions del robot. - Controlador en mode lliscant per a seguiment de referència (Capítol 5): es proposa un enfocament basat en el control en mode lliscant per a seguiment de referència en robots manipuladors industrials controlats per realimentació visual. La novetat de la proposta radica en la introducció d'un controlador en mode lliscant que utilitza senyal de control discontínua d'alt ordre, i.e. acceleracions o jerks de les articulacions, per a obtindre un comportament més suau i assegurar l'estabilitat del sistema robòtic, la qual cosa es demostra amb una prova teòrica. - Control per realimentació visual mitjançant PWM i PFM en mètodes completament desacoblats (Capítol 6): es proposa un control discontinu basat en modulació de l'ample i la freqüència del pols per a mètodes completament desacoblats de control per realimentació visual basats en posició, amb l'objectiu d'aconseguir el mateix temps de convergència per als moviments de rotació i translació de la càmera. A més, es presenten també altres resultats obtinguts en aplicacions de control per realimentació visual.Muñoz Benavent, P. (2017). Robot Visual Servoing Using Discontinuous Control [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/90430TESI

Robust auto tool change for industrial robots using visual servoing

This is an Author's Accepted Manuscript of an article published in Muñoz-Benavent, Pau, Solanes Galbis, Juan Ernesto, Gracia Calandin, Luis Ignacio, Tornero Montserrat, Josep. (2019). Robust auto tool change for industrial robots using visual servoing.International Journal of Systems Science, 50, 2, 432-449. © Taylor & Francis, available online at: http://doi.org/10.1080/00207721.2018.1562129[EN] This work presents an automated solution for tool changing in industrial robots using visual servoing and sliding mode control. The robustness of the proposed method is due to the control law of the visual servoing, which uses the information acquired by a vision system to close a feedback control loop. Furthermore, sliding mode control is simultaneously used in a prioritised level to satisfy the constraints typically present in a robot system: joint range limits, maximum joint speeds and allowed workspace. Thus, the global control accurately places the tool in the warehouse, but satisfying the robot constraints. The feasibility and effectiveness of the proposed approach is substantiated by simulation results for a complex 3D case study. Moreover, real experimentation with a 6R industrial manipulator is also presented to demonstrate the applicability of the method for tool changing.This work was supported in part by the Ministerio de Economia, Industria y Competitividad, Gobierno de Espana under Grant BES-2010-038486 and Project DPI2017-87656-C2-1-R.Muñoz-Benavent, P.; Solanes Galbis, JE.; Gracia Calandin, LI.; Tornero Montserrat, J. (2019). Robust auto tool change for industrial robots using visual servoing. International Journal of Systems Science. 50(2):432-449. https://doi.org/10.1080/00207721.2018.1562129S43244950

Displacement-based two-finger grasping of deformable planar objects

This thesis introduces a strategy of grasping deformable objects using two fingers which specifies finger displacements rather than grasping forces. Grasping deformable objects must maintain its equilibrium before and after the induced deformation. The deformed shape and grasping force are computed using the finite element method (FEM). The equilibrium of the object is guaranteed automatically since the computed grasping force are collinear and sum up to 0. To achieve a grasp, the forces have to be tested for staying inside the pre- and post- deformation contact friction cones. This test could be as expensive as solving a large linear system, if the deformed shape is computed. We present an algorithm that performs a grasp test in O(n) time, where n is the number of discretization vertices under FEM, after obtaining the spectral decomposition of the object\u27s stiffness matrix in O(n3) time. All grasps (up to discretization) can be found in additional O(n2) time. Robot grasping experiments have been conducted on thin 2.5D objects

Surface parameterization over regular domains

Surface parameterization has been widely studied and it has been playing a critical role in many geometric processing tasks in graphics, computer-aided design, visualization, vision, physical simulation and etc. Regular domains, such as polycubes, are favored due to their structural regularity and geometric simplicity. This thesis focuses on studying the surface parameterization over regular domains, i.e. polycubes, and develops effective computation algorithms. Firstly, the motivation for surface parameterization and polycube mapping is introduced. Secondly, we briefly review existing surface parameterization techniques, especially for extensively studied parameterization algorithms for topological disk surfaces and parameterizations over regular domains for closed surfaces. Then we propose a polycube parameterization algorithm for closed surfaces with general topology. We develop an efficient optimization framework to minimize the angle and area distortion of the mapping. Its applications on surface meshing, inter-shape morphing and volumetric polycube mapping are also discussed

Study of lightweighting structural design considering 3D printing constraints

One of the current challenges of the aerospace industry is the exploration of new lightweighting structures to reduce fuel consumption and limiting the environmental impact. The use of numerical methods concerning topology optimization techniques allows the obtaining of such weight reduction, also minimizing both design time and costs, and hence accelerating the design process. Nevertheless, current structural optimization leads to the apparition of complex shapes and volumes with unintuitive holes, thus needing the use of additive manufacturing constraints - minimum length scales and overhanging - to ensure manufacturability. Considering the background exposed above, the aim of this project is to study the feasibility of heuristic designs concerning lightweighting structures, materialized with additive manufacturing and considering 3D printing constraints. The design stage will be developed by means of topology optimization techniques, applied to anisotropic filtering. The methodology employed has considered all details concerning Computational Solid Mechanics (CSM) techniques used in structures optimization, as well as additive manufacturing techniques, different case studies definition and their feasibility study. More specifically, in the context of CSM, the use of Finite Element Methods (FEM) in the classical elastic problem is reviewed, as well as current topology optimization techniques, so as to implement FEM in optimization algorithms. Thus, theoretical basis in additive manufacturing techniques are reviewed, along with the mathematical formulation of length scale and overhang constraints. Lastly, the programming stage is performed by previously defining the working environment, consisting in the use of Object-Oriented Programming within the git Version Control System, and hence establishing the computational domain definition for all cases, the meshing process and the simulation setup. In the end, the present project has accomplished the main objectives, giving a positive answer to the creation of lightweighting structures and fulfillment of 3D printing constraints. Indeed, FEM combined with topology optimization techniques has led to the obtaining of optimized designs, fulfilling an objective function and a set of constraints, considering both design variables approaches, density and level set. Besides, an additional shape functional has been defined as a penalty contribution to the main cost function in order to fulfill 3D printing constraints - the anisotropic perimeter - being the evolution of the standard isotropic one, both applied to total and relative perimeters. This shape functional self-penalizes length scale constraints and keeps control in overhanging phenomena by orienting the topologies with the definition of a virtual anisotropic stiffness matrix. Results obtained show that the apparition of local features with small length scales has been avoided when including either isotropic or anisotropic perimeter as a penalty term. Furthermore, vertical tendency orientation of topologies has been generally obtained with the anisotropic cases, along with penalization of horizontal features. Overall, this project has become clearly relevant for the exploration of new lightweighting structures, achieving weight reduction with topology optimization techniques. Further exploration remains in the course of PhD professionalization, specially when considering phase-field models, high-performance computing and large-scale optimization inside the non-linear regime

Subdivision Surface based One-Piece Representation

Subdivision surfaces are capable of modeling and representing complex shapes of arbi-trary topology. However, methods on how to build the control mesh of a complex surfaceare not studied much. Currently, most meshes of complicated objects come from trian-gulation and simplification of raster scanned data points, like the Stanford 3D ScanningRepository. This approach is costly and leads to very dense meshes.Subdivision surface based one-piece representation means to represent the final objectin a design process with only one subdivision surface, no matter how complicated theobject\u27s topology or shape. Hence the number of parts in the final representation isalways one.In this dissertation we present necessary mathematical theories and geometric algo-rithms to support subdivision surface based one-piece representation. First, an explicitparametrization method is presented for exact evaluation of Catmull-Clark subdivisionsurfaces. Based on it, two approaches are proposed for constructing the one-piece rep-resentation of a given object with arbitrary topology. One approach is to construct theone-piece representation by using the interpolation technique. Interpolation is a naturalway to build models, but the fairness of the interpolating surface is a big concern inprevious methods. With similarity based interpolation technique, we can obtain bet-ter modeling results with less undesired artifacts and undulations. Another approachis through performing Boolean operations. Up to this point, accurate Boolean oper-ations over subdivision surfaces are not approached yet in the literature. We presenta robust and error controllable Boolean operation method which results in a one-piecerepresentation. Because one-piece representations resulting from the above two methodsare usually dense, error controllable simplification of one-piece representations is needed.Two methods are presented for this purpose: adaptive tessellation and multiresolutionanalysis. Both methods can significantly reduce the complexity of a one-piece represen-tation and while having accurate error estimation.A system that performs subdivision surface based one-piece representation was im-plemented and a lot of examples have been tested. All the examples show that our ap-proaches can obtain very good subdivision based one-piece representation results. Eventhough our methods are based on Catmull-Clark subdivision scheme, we believe they canbe adapted to other subdivision schemes as well with small modifications