Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control

Flexible manufacturing lines are required to meet the demand for customized and small batch-size products. Even though state-of-the-art tactile robots may provide the versatility for increased adaptability and flexibility, their potential is yet to be fully exploited. To support robotics deployment in manufacturing, we propose a task-based tactile robot pro- gramming paradigm that uses an object-centric tactile skill definition that directly links identified object constraints of the task to the definition of constraint-based unified force- impedance control. In this study, we first explain the basic concept of abstracting the task constraints experienced by the object and transferring them to the robot’s operational space frame. Second, using the object-centric tactile skill definition, we synthesize unified force-impedance control and formalized holonomic constraints to enable flexible task execution. Later, we propose the quantified analysis metrics for the process by analyzing them as a typical example of flexible manipulation disassembly skills, e.g., levering and unscrew-driving regarding their object requirements. Supported by realistic experimental evaluation using a Franka Emika robot, our tactile robot programming approach for the direct translation between task- level constraints and robot control parameter design is shown to be a viable solution for increased robotic deployment in flexible manufacturing lines.