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排列时，最终排列结果的质量高度依赖于可实现的放置精度。然而，即便是最先进的机器人系统也难以避免在操作流程的不同环节出现定位误差。忽视此类误差可能导致排列任务部分或完全失败。本文提出了一种新颖方法，通过机械臂推操作自主检测并校正错误放置的物体。我们采用安装在UR5机械臂上的Robotiq二指夹爪，在仿真环境和真实硬件上对方法进行了充分测试。评估结果表明，该方法能有效补偿规则形状物体操作过程中注入的各种系统误差，最终实现毫米级高可靠性的物体放置精度。