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Reliable precision grasping is a pre-condition for manipulation tasks e.g. in assembly and packaging tasks. Especially for small and light objects robust grasping is extremely challenging since even slight errors in the object pose or dimensions lead to irreparable failures caused by unintended finger-object contacts. State of the art techniques address the problem of grasping in the presence of uncertainty...
In the field of robotics, design and control of robotic limbs is contributing towards the development and study of robots which can closely mimic human motions. In this paper, robust control of a customized robotic Gripper Arm is discussed. Stability analysis in the presence of uncertainties is carried out on a model of the Gripper, with and without the integration of H2 and H∞ compensators. The results...
In a robotic cell, an assembly robot has to grasp various parts robustly even under some uncertainties in their initial poses. For this purpose, it is necessary to design robust grasping strategies for robotic hands. In this paper, we propose a method to derive an optimal robust grasping strategy from a given initial pose error region of a target object. Based on the pushing operation analysis, it...
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