When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps of the manipulation process. Ignoring such errors can lead to the partial or complete failure of the arrangement. In this paper, we present a novel approach to autonomously detect and correct misplaced objects by pushing them with a robotic arm. We thoroughly tested our approach both in simulation and on real hardware using a Robotiq two-finger gripper mounted on a UR5 robotic arm. In our evaluation, we demonstrate the successful compensation for different errors injected during the manipulation of regular shaped objects. Consequently, we achieve a highly reliable object placement accuracy in the millimeter range.

翻译：在利用机械臂进行物体摆盘时，最终效果的质量很大程度上取决于可实现的放置精度。然而，即便最先进的机器人系统在操作流程的不同阶段也可能出现定位误差。忽视此类误差可能导致摆盘作业部分或完全失败。本文提出了一种新颖方法，通过机械臂推移操作自主检测并纠正物体摆放偏差。我们分别在仿真环境和真实硬件上（采用UR5机械臂搭载Robotiq双指夹爪）对该方法进行了全面测试。实验评估表明，该方法能成功补偿规则形状物体操作过程中注入的不同误差，最终实现毫米级的高可靠物体放置精度。