Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts
| Autor: | Lilita Kiforenko, Frederik Hagelskjær, Ales Ude, Anders Buch, Andrej Gams, Adam Wolniakowski, Dimitrios-Chrysostomos Chrysostomou, Norbert Krüger, Aljaz Kramberger, Konstantsin Miatliuk, Ole Madsen, Henrik Gordon Petersen |
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| Předmět: |
0209 industrial biotechnology
Grasping Computer science udc:007.52 grasping 02 engineering and technology 020901 industrial engineering & automation gripper design 0202 electrical engineering electronic engineering information engineering Computer vision business.industry Mechanical Engineering Mechanics of engineering. Applied mechanics History of engineering TA349-359 Gripper Design uncertainties simulation Uncertainties Control and Systems Engineering 020201 artificial intelligence & image processing Artificial intelligence SDG 9 - Industry Innovation and Infrastructure business Simulation |
| Zdroj: | Aalborg University Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D-C, Madsen, O, Miatliuk, K, Petersen, H G, Hagelskjær, F, Buch, A G, Ude, A & Krüger, N 2018, ' Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts ', Acta Mechanica et Automatica, vol. 12, no. 1, pp. 78-83 . https://doi.org/10.2478/ama-2018-0013 University of Southern Denmark Acta Mechanica et Automatica, vol. 12, no. 1, pp. 78-83, 2018. Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D-C, Madsen, O, Miatliuk, K, Petersen, H G, Hagelskjær, F, Buch, A G, Ude, A & Krüger, N 2018, ' Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts ' Acta Mechanica et Automatica, vol. 12, no. 1, pp. 78-83 . DOI: 10.2478/ama-2018-0013 Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D, Madsen, O, Miatliuk, K, Petersen, H G, Hagelskjær, F, Buch, A G, Ude, A & Krüger, N 2017, Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts . in 12th International Conference Mechatronic Systems and Materials (MSM'16) . International Conference on Mechatronic Systems and Materials, Białystok, Poland, 03/07/2016 . Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D-C, Madsen, O, Miatliuk, K, Petersen, H G, Hagelskjær, F, Buch, A G, Ude, A & Krüger, N 2018, ' Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts ', Acta Mechanica et Automatica, vol. 12, no. 1, pp. 78-83 . https://doi.org/10.2478/ama-2018-0013 Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D, Madsen, O, Miatliuk, K, Petersen, H G, Hagelskjær, F, Buch, A G, Ude, A & Krüger, N 2018, Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts . in 12th International Conference Mechatronic Systems and Materials (MSM'16) . International Conference on Mechatronic Systems and Materials, Białystok, Poland, 03/07/2016 . Acta Mechanica et Automatica, Vol 12, Iss 1, Pp 78-83 (2018) Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D-C, Madsen, O, Miatliuk, K, Petersen, H G, Hagelskjær, F, Buch, A G, Ude, A & Krüger, N 2016, ' Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts ', Paper presented at 12th International Conference Mechatronic Systems and Materials, Byalystok, Poland, 03/07/2016-08/07/2016 . Acta Mechanica et Automatica |
| ISSN: | 2300-5319 |
| DOI: | 10.2478/ama-2018-0013 |
| Popis: | The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method [1, 2]. We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization. The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method [1, 2]. We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization. |
| Databáze: | OpenAIRE |
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