An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between force and position control. Extensive simulations demonstrate the system's robustness to variance in initial conditions. Additionally, the proposed controller tightens threaded screws 14% faster than the baseline while applying 40 times less contact force on manipulands. For the benefit of the research community, the system's implementation is open-sourced.

翻译：本文提出了一种用于配备平行夹爪的串联机械臂的自主机器人拧紧螺母系统。该系统采用基于分层运动基元的规划器以及一种在力控制与位置控制之间切换的控制切换方案。大量仿真实验表明，该系统对初始条件的变化具有鲁棒性。此外，所提出的控制器在拧紧螺纹螺钉时，比基准方法快14%，同时对操作对象施加的接触力减少了40倍。为促进研究社区的发展，该系统的实现已开源。