Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

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

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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 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 (Wolniakowski et al., 2013, 2015). 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
JournalActa Mechanica et Automatica
Volume12
Issue number1
Pages (from-to)78-83
ISSN2300-5319
DOIs
Publication statusPublished - 2018

Keywords

  • Grasping
  • Uncertainties
  • gripper design
  • simulation

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