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Bruno Vilhena Adornohttp://lattes.cnpq.br/3363634987221133Luciano Cunha de Araújo PimentaMurilo Marques Marinhohttp://lattes.cnpq.br/5855690533991837Marcos da Silva Pereira2020-12-16T21:17:05Z2020-12-16T21:17:05Z2020-09-30http://hdl.handle.net/1843/34528This master thesis addresses the integration of task planning and motion control in robotic manipulation for tasks that can be relaxed and the generation of feasible manipulation sequences that are executed by a controller that explicitly accounts for the task geometric constraints. To cope with the high dimensionality of the manipulation problem and the complexity of specifying the tasks, we use a multi-layered framework for task and motion planning adapted from the literature. The adapted framework consists of a high-level planner, which generates task plans for linear temporal logic specifications, and a low-level motion controller, based on constrained optimization, that allows defining regions of interest instead of exact locations while being reactive to changes in the workspace. Thus, there is no low-level motion planning time added to the total planning time. Moreover, since there is no replanning phase due to motion planner failures, the robot actions are generated only once for each task because the search for a plan occurs on a static graph. Concerning task relaxation, the task plan action of holding an object toward a target region is relaxed by controlling the end-effector distance to a target plane instead of requiring pose control. This way, instead of requiring six degrees of freedom to control the pose, only one degree of freedom is used to control the distance to a plane. We add constraints that keep the end-effector inside a region of interest and outside a restricted region while it moves toward the plane. Thus, it moves toward the target region that is constrained by the combination of geometric primitives. By using plane constraints, we define a rectangular target region that results in an inverted pyramid trunk region of interest. Additionally, we propose a new interpretation of conic constraints called point-cone constraint that allows defining circular target regions resulting in an inverted cone trunk. We evaluated the adapted framework with pick-and-place tasks with similar complexity to the original framework and showed that the number of plan nodes generated is smaller than the one in the original framework, which implies less total planning time. Lastly, it is shown that the end-effector remains within the regions of interest and moves toward the target region for both the rectangular and circular target regions.Esta disserta¸c˜ao de mestrado trata da integra¸c˜ao de planejamento de tarefas e controle de movimento em rob´otica de manipula¸c˜ao para tarefas que podem ser relaxadas. O objetivo ´e gerar automaticamente sequˆencias fact´ıveis de manipula¸c˜ao para serem executadas por um controlador que considera restri¸c˜oes geom´etricas impostas pela tarefa. Para lidar com a alta dimensionalidade do problema de manipula¸c˜ao e a complexidade de especificar tarefas, foi usado um arcabou¸co multicamadas para planejamento de tarefa e movimento adaptado da literatura. O arcabou¸co adaptado consiste de um planejador de alto n´ıvel, que gera planos de tarefa para especifica¸c˜oes em l´ogica temporal linear, e um controlador de movimento de baixo n´ıvel baseado em otimiza¸c˜ao com restri¸c˜oes, que permite definir regi˜oes de interesse ao inv´es de localidades exatas e ´e reativo a mudan¸cas no espa¸co de trabalho. Logo, n˜ao h´a adi¸c˜ao de tempo de planejamento de movimento ao tempo total de planejamento. Al´em disso, como n˜ao h´a fase de replanejamento devido a falhas em um planejador de movimento, as a¸c˜oes para o robˆo s˜ao geradas apenas uma vez para cada tarefa, portanto, a busca por plano de tarefas ocorre em um grafo est´atico. Com rela¸c˜ao ao relaxamento de tarefas, a a¸c˜ao do plano de tarefas de segurar um objeto at´e uma regi˜ao alvo ´e relaxada fazendo-se controle de distˆancia ao plano alvo ao inv´es de controle de pose. Desse modo, ao inv´es de utilizar-se seis graus de liberdade para controlar a pose, apenas um grau de liberdade ´e utilizado para controlar a distˆancia ao plano. Para manter o efetuador dentro de uma regi˜ao de interesse e fora de uma regi˜ao proibida enquanto ele se desloca para o plano, restri¸c˜oes s˜ao adicionadas. Com as restri¸c˜oes, o efetuador se move para a regi˜ao alvo no plano, que ´e delimitada pela combina¸c˜ao de primitivas geom´etricas. Utilizando-se restri¸c˜oes por planos, foi definida uma regi˜ao alvo quadrada que resulta em uma regi˜ao de interesse na forma de um tronco de pirˆamide invertido. Al´em disso, foi proposta uma nova interpreta¸c˜ao de restri¸c˜ao cˆonica chamada restri¸c˜ao ponto-cone que permite definir regi˜oes alvos circulares e que resulta em um tronco de cone invertido. Essa abordagem foi testada com tarefas de pick-and-place com complexidade similar `a das tarefas realizadas no arcabou¸co original. O n´umero de n´os de planejamento gerados foi reduzido, o que implica em menor tempo total de planejamento. Por fim, foi mostrado que o efetuador permanece dentro da regi˜ao de interesse e se move em dire¸c˜ao ao plano alvo tanto no caso da regi˜ao quadrada quanto no caso da regi˜ao circular.CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível SuperiorengUniversidade Federal de Minas GeraisPrograma de Pós-Graduação em Engenharia ElétricaUFMGBrasilENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICAEngenharia elétricaRobôs - MovimentoRobôs - Sistemas de controleRobóticaLinear temporal logicTask planningConstrained motion controlTask relaxationsManipulation task planning and motion control using task relaxationsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFMGinstname:Universidade Federal de Minas Gerais (UFMG)instacron:UFMGORIGINALManipulationTaskPlanningAndMotionControlUsingTaskRelaxations.pdfManipulationTaskPlanningAndMotionControlUsingTaskRelaxations.pdfapplication/pdf34748382https://repositorio.ufmg.br/bitstream/1843/34528/1/ManipulationTaskPlanningAndMotionControlUsingTaskRelaxations.pdf8444ffba6c6b8245f3fa465e37b609aeMD51LICENSElicense.txtlicense.txttext/plain; charset=utf-82119https://repositorio.ufmg.br/bitstream/1843/34528/2/license.txt34badce4be7e31e3adb4575ae96af679MD521843/345282020-12-16 18:17:05.248oai:repositorio.ufmg.br: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Repositório InstitucionalPUBhttps://repositorio.ufmg.br/oaiopendoar:2020-12-16T21:17:05Repositório Institucional da UFMG - Universidade Federal de Minas Gerais (UFMG)false
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