Optimizing Grippers for Compensating Pose Uncertainties by Dynamic Simulation

Adam Wolniakowski, Aljaž Kramberger, Andrej Gams, Dimitrios Chrysostomou, Frederik Hagelskjær, Thomas Nicky Thulesen, Lilita Kiforenko, Anders Glent Buch, Leon Bodenhagen, Henrik Gordon Petersen, Ole Madsen, Ales Ude, Norbert Krüger

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3 Citationer (Scopus)

Abstrakt

Gripper design process is one of the interesting challenges in the context of grasping within industry. Typically, simple parallel-finger grippers, which are easy to install and maintain, are used in platforms for robotic grasping. The context switches in these platforms require frequent exchange of gripper fingers to accommodate grasping of new products, while subjected to numerous constraints, such as workcell uncertainties due to the vision systems used. The design of these fingers consumes the man-hours of experienced engineers, and involves a lot of trial-and-error testing. In our previous work, we have presented a method to automatically compute the optimal finger shapes for defined task contexts in simulation. In this paper, we show the performance of our method in an industrial grasping scenario. We first analyze the uncertainties of the used vision system, which are the major source of grasping error. Then, we perform the experiments, both in simulation and in a real setting. The experiments confirmed the validity of our approach. The computed finger design was employed in a real industrial assembly scenario.
OriginalsprogEngelsk
TitelIEEE International Conference on Simulation, Modelling, and Programming for Autonomous Robots (SIMPAR)
Antal sider7
ForlagIEEE
Publikationsdato23 feb. 2017
Sider177-184
ISBN (Trykt)978-1-5090-4617-1
ISBN (Elektronisk)978-1-5090-4616-4
DOI
StatusUdgivet - 23 feb. 2017
BegivenhedIEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots: Leveraging Simulation and Machine Learning for Robotics - The Parc 55, San Francisco, USA
Varighed: 13 dec. 201616 dec. 2016
Konferencens nummer: 5
http://simpar2016.org/

Konference

KonferenceIEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Nummer5
LokationThe Parc 55
LandUSA
BySan Francisco
Periode13/12/201616/12/2016
Internetadresse

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Citationsformater

Wolniakowski, A., Kramberger, A., Gams, A., Chrysostomou, D., Hagelskjær, F., Thulesen, T. N., Kiforenko, L., Buch, A. G., Bodenhagen, L., Petersen, H. G., Madsen, O., Ude, A., & Krüger, N. (2017). Optimizing Grippers for Compensating Pose Uncertainties by Dynamic Simulation. I IEEE International Conference on Simulation, Modelling, and Programming for Autonomous Robots (SIMPAR) (s. 177-184). IEEE. https://doi.org/10.1109/SIMPAR.2016.7862393