Grasp input optimization considering contact position and object information uncertainties
نویسندگان
چکیده
This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and frictional condition. We then include external wrench uncertainties in the required external wrenches set (REWS). Based on this formulation, we define the linear grasp optimization problem for two kinds of frictional contact models—frictional point contact (FPC) and soft finger contact—so that we can successfully in grasp an object even if deviations in contact point, object weight, and center of mass (CM) occur. The validity of our approach is shown by means of numerical examples and the result of experiments.
منابع مشابه
An Optimal Admittance Reactive Force Control for Cooperative Robot Grasping Tasks
In this article it is proposed an optimal admittance algorithm that controls the position of the end effectors in cooperative robot systems or fingers, in case of robotic hands, reactively according to on-line force sensory data. The method is free of in-depth models or sophisticated external sensors. The sensors used are simple and provide only limited and immediate information, nonetheless th...
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کاملGrasping on Contact Primitives by Fingertip Surface Optimization
GRASPING is an essential ability that enables the robot to physically interact with the world. Contact-based grasping [1], which explicitly considers the contacts made by a grasp, has been widely studied to address various aspects of grasping [2, 3]. Contact modeling is one of the basic building blocks for the research of contact-based grasping. Dependent on the friction and softness at contact...
متن کاملModifying a Conventional Grasping Control Approach for Undesired Slippage Control in Cooperating Manipulator Systems
There have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. However undesired slippage can occur due to environmental conditions and many other reasons. In this research, dynamic analysis and control synthesis of a cooperating ...
متن کاملSolving Redundant Contact and Grasp Uncertainties
This paper extends previous work on (suboptimal) Kalman filter based resolution of geometric uncertainties that occur during the manipulation of an object in contact with its environment. The setup consists of a force-controlled robot which has grasped a cylindrical peg; the relative position and orientation of the peg with respect to the robot end effector are only approximately known. The peg...
متن کامل