Compensating pose uncertainties through appropriate gripper finger cutouts

• Autorzy: Wolniakowski A. , Gams M. , Kramberger A. , Miatliuk K. , Kiforenko L. , Petersen H. G. , Hagelskjaer F. , Buch A. G. , Krüger N. , Chrysostomou D. , Madsen O. , Ude A.

Identyfikatory

DOI

10.2478/ama-2018-0013

• Języki publikacji: EN

Abstrakty

EN

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 (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.

Słowa kluczowe

EN

grasping; uncertainties; gripper design; simulation

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2018
• Tom: Vol. 12, no. 1
• Strony: 78--83
• Opis fizyczny: Bibliogr. 19 poz., rys., tab., wykr.

Twórcy

autor

Wolniakowski A.

• Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, Białystok 15-351, Poland

autor

Gams M.

• Department for Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia

autor

Kramberger A.

• Department for Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia

autor

Miatliuk K.

• Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, Białystok 15-351, Poland

autor

Kiforenko L.

• The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense M, Denmark

autor

Petersen H. G.

• The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense M, Denmark

autor

Hagelskjaer F.

• The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense M, Denmark

autor

Buch A. G.

• The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense M, Denmark

autor

Krüger N.

• The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense M, Denmark

autor

Chrysostomou D.

• Robotics and Automation Group, Aalborg University, Fibigerstraede 14, DK-9220 Aalborg East, Denmark

autor

Madsen O.

• Robotics and Automation Group, Aalborg University, Fibigerstraede 14, DK-9220 Aalborg East, Denmark

autor

Ude A.

• Robotics and Automation Group, Aalborg University, Fibigerstraede 14, DK-9220 Aalborg East, Denmark

Bibliografia

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• 2. Carbone G. (2013), Grasping in robotics, Springer-Verlag London.
• 3. Causey G. (2003), Guidelines for the design of robotic gripping systems, Assembly Automation, 23(1), 18–28.
• 4. Causey G.C., Quinn R.D. (1998), Gripper design guidelines for modular manufacturing, IEEE International Conference on Robotics and Automation, 2, 1453–1458.
• 5. Ceccarelli M., Cuadrado J., Dopico D. (2002), An optimum synthesis for gripping mechanisms by using natural coordinates, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016(6), 643–653.
• 6. Cuadrado J., Naya M.A., Ceccarelli M., Carbone G. (2002), An optimum design procedure for two-finger grippers: a case of study, IFToMM Electronic Journal of Computational Kinematics, 15403(1).
• 7. Ellekilde L.-P., Petersen H.G. (2006), Design and test of object aligning grippers for industrial applications, IEEE/RSJ International Conference on Intelligent Robots and Systems, 5165–5170.
• 8. Krenich S. (2004), Multicriteria design optimization of robot gripper mechanisms, Solid Mechanics and Its Applications, 117, 207–218, Springer Netherlands.
• 9. Lanni C., Ceccarelli M. (2009), An optimization problem algorithm for kinematic design of mechanisms for two-finger grippers, Open Mechanical Engineering Journal, 3, 49–62.
• 10. Monkman G., Hesse S., Steinmann R., Schunk H. (2007), Robot grippers, Wiley.
• 11. Siciliano B., Khatib O. (2008), Springer handbook of robotics, Springer Verlag Berlin Heidelberg.
• 12. Tarnowski W. (1997), Foundations of engineering design, CAD, CAM, Wydawnictwa Naukowo-Techniczne, Warszawa.
• 13. Thulesen T.N., Petersen H.G, (2016), RobWorkPhysicsEngine: A new Dynamic Simulation Engine for Manipulation Action, IEEE International Conference on Robotics and Automation (ICRA), 2060- 2067.
• 14. Wolf A., Steinmann R., Schunk H. (2005), Grippers In Motion, Springer Berlin Heidelberg.
• 15. Wolniakowski A., Jorgensen J.A., Miatliuk K., Petersen H.G., Krüger N. (2015), Task and Context Sensitive Optimization of Gripper Design Using Dynamic Grasp Simulation, 20th International Conference on Methods and Models in Automation and Robotics, 29-34.
• 16. Wolniakowski A., Miatliuk K., Gosiewski Z., Jørgensen J.A., Bodenhagen L., Petersen H.G, Krüger N. (2017), Task and Context Sensitive Gripper Design Learning Using Dynamic Grasp Simulation, Journal of Intelligent and Robotic Systems, 87(1), 15-42.
• 17. Wolniakowski A., Miatliuk K., Krüger N., Rytz J.A. (2013), Automatic Evaluation of Task-Focused Parallel Jaw Gripper Design, International Conference on Simulation, Modelling and Programming for Autonomous Robots, LNCS, 8810, 450-461.
• 18. Zhang M.T., Goldberg K. (2006), Designing robot grippers: optimal edge contacts for part alignment, Robotica, 25, 341-349.
• 19. Zhang T., Cheung L., Goldberg K. (2001), Shape tolerance for robot gripper jaws, IEEE/RSJ International Conference on Intelligent Robots Systems, 1782–1787.

Uwagi

1. The research leading to this publication has been funded by the EU FoF Project ReconCell (project number 680431). This research has been funded in part by the GOSTOP programme C3330-16- 529000, co-financed by Slovenia and EU under ERDF.

2. Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).