Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts

Research output: Research - peer-reviewArticle in proceeding

  • Adam Wolniakowski
  • Andrej Gams
  • Lilita Kiforenko
  • Aljaž Kramberger
  • Dimitrios Chrysostomou
  • Ole Madsen
  • Konstantsin Miatliuk
  • Henrik Gordon Petersen
  • Frederik Hagelskjær
  • Anders Glent Buch
  • Ales Ude
  • Norbert Krüger

Abstract

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.
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Details

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.
Original languageEnglish
Title of host publication12th International Conference Mechatronic Systems and Materials (MSM'16)
Publication date2017
StatePublished - 2017
Publication categoryResearch
Peer-reviewedYes
EventInternational Conference on Mechatronic Systems and Materials - Białystok, Białystok, Poland
Duration: 3 Jul 20168 Jul 2016
Conference number: 12
http://www.msm2016.pb.edu.pl/

Conference

ConferenceInternational Conference on Mechatronic Systems and Materials
Nummer12
LocationBiałystok
LandPoland
ByBiałystok
Periode03/07/201608/07/2016
Internetadresse
ID: 245353380