<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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 (<xref ref-type="bibr" rid="j_ama-2018-0013_ref_017_w2aab3b7c12b1b6b1ab1ac17Aa">Wolniakowski et al., 2013</xref>, <xref ref-type="bibr" rid="j_ama-2018-0013_ref_015_w2aab3b7c12b1b6b1ab1ac15Aa">2015</xref>). 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.</p></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 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.

Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

Department for Automation, Biocybernetics and Robotics, Jožef Stefan Institute

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts"}

The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to...

Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

Published Online: Apr 04, 2018

Page range: 78 - 83

Received: Oct 27, 2016

Accepted: Mar 22, 2018

DOI: https://doi.org/10.2478/ama-2018-0013

Keywords
Grasping, Uncertainties, Gripper Design, Simulation

© 2018 Adam Wolniakowski et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

Published Online: Apr 04, 2018

Page range: 78 - 83

Received: Oct 27, 2016

Accepted: Mar 22, 2018

DOI: https://doi.org/10.2478/ama-2018-0013

KeywordsGrasping, Uncertainties, Gripper Design, Simulation

© 2018 Adam Wolniakowski et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
Grasping, Uncertainties, Gripper Design, Simulation