Manipulating Deformable Objects with a Dual-arm Robot

Stéphane Caro (1, 2, 3) , Christine Chevallereau (4, 2) , Alberto Remus (5)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 CNRS - Centre National de la Recherche Scientifique
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 LS2N - équipe ReV - Robotique Et Vivant
5 ECN - École Centrale de Nantes

Competition in all sectors requires companies to be increasingly flexible to market changes and the assembly industry is no exception. The impact of this work concerns aircraft production, as well as other fields. The main focus is on modelling and control techniques to carry out assembly tasks involving deformable parts, by exploiting a multi-robot system. Specifically, two robot arms are used to move a light and deformable part in order to adapt its shape for an assembly operation. A vision system is used, assisted by markers. Furthermore, the stability of the proposed controller is analyzed and experimental results are given.

Mots clés: Deformable models; Dual-arm robot; Manipulation; Stability analysis

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Stéphane Caro, Christine Chevallereau, Alberto Remus. Manipulating Deformable Objects with a Dual-arm Robot. ROBOVIS 2021 : 2nd International Conference on Robotics, Computer Vision and Intelligent Systems, Oct 2021, Valletta, Malta. pp.48-56, ⟨10.5220/0010707600003061⟩. ⟨hal-03357556⟩