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Parts assembly, in a broad sense, is to make multiple objects to be in specific relative poses in contact with each other. One of the major reasons that make it difficult is uncertainty. Because parts assembly involves physical contact between objects, it requires higher precision than other manipulation tasks like collision avoidance. The key idea of this paper is to use simulation-aided physical...
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...
Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the...
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...
We add to a manipulator's capabilities a new primitive motion which we term a push-grasp. While significant progress has been made in robotic grasping of objects and geometric path planning for manipulation, such work treats the world and the object being grasped as immovable, often declaring failure when simple motions of the object could produce success. We analyze the mechanics of push-grasping...
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