Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts

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

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

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 [1, 2]. 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
Publication date3. Jul 2016
Publication statusPublished - 3. Jul 2016
Event12th International Conference Mechatronic Systems and Materials - Byalystok, Poland
Duration: 3. Jul 20168. Jul 2016
Conference number: 12
http://www.msm2016.pb.edu.pl/

Conference

Conference12th International Conference Mechatronic Systems and Materials
Number12
CountryPoland
CityByalystok
Period03/07/201608/07/2016
Internet address

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Grippers
Uncertainty
Robotics
Calibration
Geometry
Computer simulation
Industry

Cite this

Wolniakowski, A., Gams, A., Kiforenko, L., Kramberger, A., Chrysostomou, D-C., Madsen, O., ... Krüger, N. (2016). Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts. Paper presented at 12th International Conference Mechatronic Systems and Materials, Byalystok, Poland.
Wolniakowski, Adam ; Gams, Andrej ; Kiforenko, Lilita ; Kramberger, Aljaz ; Chrysostomou, Dimitrios-Chrysostomos ; Madsen, Ole ; Miatliuk, Kanstantsin ; Petersen, Henrik Gordon ; Hagelskjær, Frederik ; Buch, Anders Glent ; Ude, Ales ; Krüger, Norbert. / Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts. Paper presented at 12th International Conference Mechatronic Systems and Materials, Byalystok, Poland.
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author = "Adam Wolniakowski and Andrej Gams and Lilita Kiforenko and Aljaz Kramberger and Dimitrios-Chrysostomos Chrysostomou and Ole Madsen and Kanstantsin Miatliuk and Petersen, {Henrik Gordon} and Frederik Hagelskj{\ae}r and Buch, {Anders Glent} and Ales Ude and Norbert Kr{\"u}ger",
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Wolniakowski, A, Gams, A, Kiforenko, L, Kramberger, A, Chrysostomou, D-C, Madsen, O, Miatliuk, K, Petersen, HG, Hagelskjær, F, Buch, AG, Ude, A & Krüger, N 2016, 'Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts', Paper presented at 12th International Conference Mechatronic Systems and Materials, Byalystok, Poland, 03/07/2016 - 08/07/2016.

Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts. / Wolniakowski, Adam; Gams, Andrej ; Kiforenko, Lilita; Kramberger, Aljaz; Chrysostomou, Dimitrios-Chrysostomos; Madsen, Ole; Miatliuk, Kanstantsin ; Petersen, Henrik Gordon; Hagelskjær, Frederik; Buch, Anders Glent; Ude, Ales; Krüger, Norbert.

2016. Paper presented at 12th International Conference Mechatronic Systems and Materials, Byalystok, Poland.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

TY - CONF

T1 - Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts

AU - Wolniakowski, Adam

AU - Gams, Andrej

AU - Kiforenko, Lilita

AU - Kramberger, Aljaz

AU - Chrysostomou, Dimitrios-Chrysostomos

AU - Madsen, Ole

AU - Miatliuk, Kanstantsin

AU - Petersen, Henrik Gordon

AU - Hagelskjær, Frederik

AU - Buch, Anders Glent

AU - Ude, Ales

AU - Krüger, Norbert

PY - 2016/7/3

Y1 - 2016/7/3

N2 - 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 [1, 2]. 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.

AB - 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 [1, 2]. 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.

UR - http://www.msm2016.pb.edu.pl/images/msm_2016_conference_program_02.pdf

M3 - Paper

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Wolniakowski A, Gams A, Kiforenko L, Kramberger A, Chrysostomou D-C, Madsen O et al. Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts. 2016. Paper presented at 12th International Conference Mechatronic Systems and Materials, Byalystok, Poland.