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Compensating pose uncertainties through appropriate gripper finger cutouts

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.

Acta Mechanica et Automatica

2018

Vol. 12, no. 1

78--83

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.

Pose Prediction Based on ECV Visual System Using Kalman Filter

Kozioł P., Miatliuk K., Buch A. G., Kruger N.

Machine Dynamics Research

2011

Vol. 35, No. 3

37-45

This paper presents a study which uses an early cognitive vision system for model-based pose estimation of an object in motion. The estimated poses are processed by a Kalman filter which makes robotic manipulation possible. Results from a simulated robot environment are given.