Design and Test of Object Aligning Grippers for Industrial Applications

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In this paper we will present a new concept for
gripping objects in industrial applications. We assume that a
priori, the object pose is only known with a relative low accuracy.
Despite this, our method can lead to high accuracy gripping
suitable for e.g. industrial assembly. Our concept is to augment
a simple parallel gripper by mounting a set of object speci?c
jaws. Given the right shapes these jaws enable the gripper
to automatically align the object, and thereby compensate for
errors in the original object pose estimation. We will introduce
a couple of automatic and semi-automatic design strategies for
deriving these shapes and describe how these can be veri?ed
by simulations using rigid body dynamics. The output of our
system is a CAD model for the jaws. We prove our concept
with a number of experiments, which are also used to verify the
coherence between the simulation and real world.

Original languageEnglish
Title of host publicationProceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages6
PublisherIEEE
Publication date2006
Pages5165-5170
Publication statusPublished - 2006
EventInternational Conference on Intelligent Robots and Systems (IROS) -
Duration: 24. Aug 2010 → …

Conference

ConferenceInternational Conference on Intelligent Robots and Systems (IROS)
Period24/08/2010 → …

Keywords

  • Gripping
  • Simulation

Cite this

Ellekilde, L-P., & Petersen, H. G. (2006). Design and Test of Object Aligning Grippers for Industrial Applications. In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5165-5170). IEEE.
Ellekilde, Lars-Peter ; Petersen, Henrik Gordon. / Design and Test of Object Aligning Grippers for Industrial Applications. Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2006. pp. 5165-5170
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author = "Lars-Peter Ellekilde and Petersen, {Henrik Gordon}",
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booktitle = "Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
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Ellekilde, L-P & Petersen, HG 2006, Design and Test of Object Aligning Grippers for Industrial Applications. in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, pp. 5165-5170, International Conference on Intelligent Robots and Systems (IROS), 24/08/2010.

Design and Test of Object Aligning Grippers for Industrial Applications. / Ellekilde, Lars-Peter; Petersen, Henrik Gordon.

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2006. p. 5165-5170.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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AB - In this paper we will present a new concept forgripping objects in industrial applications. We assume that apriori, the object pose is only known with a relative low accuracy.Despite this, our method can lead to high accuracy grippingsuitable for e.g. industrial assembly. Our concept is to augmenta simple parallel gripper by mounting a set of object speci?cjaws. Given the right shapes these jaws enable the gripperto automatically align the object, and thereby compensate forerrors in the original object pose estimation. We will introducea couple of automatic and semi-automatic design strategies forderiving these shapes and describe how these can be veri?edby simulations using rigid body dynamics. The output of oursystem is a CAD model for the jaws. We prove our conceptwith a number of experiments, which are also used to verify thecoherence between the simulation and real world.

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Ellekilde L-P, Petersen HG. Design and Test of Object Aligning Grippers for Industrial Applications. In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2006. p. 5165-5170