نتایج جستجو برای: end effector
تعداد نتایج: 437966 فیلتر نتایج به سال:
Development on the design concept using OmniWheels to provide three degree-of-freedom (d.o.f) in a single spherical joint is presented in this paper. The purpose of this design is to provide the industrial robots that have limited movement flexibility with additional d.o.f in order to carry tasks that require complicated trajectories. In addition, this compact single joint will be installed as ...
One of the main barriers to automating a particular task with a robot is the amount of time needed to program the robot. Decreasing the programming time would facilitate automation in domains previously off limits. In this paper, we present a novel method for leveraging the previous work of a user to decrease future programming time: predictive robot programming. The decrease in programming tim...
In this paper, we address the problem of generating trajectories of some image features in order to control efficiently a robotic system using an image-based control strategy. First, physically valid C image trajectories which correspond to quasioptimal 3D camera trajectory are performed. Both self-occlusions avoidance and visibility constraints are taken into account at the task planning level...
We present the grasping system behind Cartman, the winning robot in the 2017 Amazon Robotics Challenge. The system makes strong use of redundancy in design by implementing complimentary tools, a suction gripper and a parallel gripper. This multi-modal end-effector is combined with three grasp synthesis algorithms to accommodate the range of objects provided by Amazon during the challenge. We pr...
Grasping and manipulating uncooperative objects in space is an emerging challenge for robotic systems. Many traditional robotic grasping techniques used on Earth are infeasible in space. Vacuum grippers require an atmosphere, sticky attachments fail in the harsh environment of space, and handlike opposed grippers are not suited for large, smooth space debris. We present a robotic gripper that c...
The authors study the van der Waals force FvdW, between the gripper jaw and an object – cubical, spherical and conical in shape, situated at a distance L of closest approach from it. The generic and most general case is considered, when the materials of the working jaw of the gripper and the particle are made of different materials strongly preferring the liquid phase of the fluid being at temp...
Online implementation of robotic hand-eye calibration consists in determining the relative pose between the robot gripper/end-effector and the sensors mounted on it, as the robot makes unplanned movement. With noisy measurements, inevitable in real applications, the calibration is sensitive to small rotations. Moreover, degenerate cases such as pure translations are of no effect in hand-eye cal...
The In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking control in highly complex, nonlinear, multi-arm manipulator systems. The feedback gain tuning is studie...
This paper describes how to evaluate the performance of dexterity measures by investigating the properties of the inverse kinematic algorithms. These algorithms use redundancy to optimize the dexterity measure under the constraint of following a specified end-effector trajectory. To facilitate the investigation, a concept of the construint locus is proposed. The constraint locus is the loci of ...
The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally unstructured, a robot must deal with several types of uncertainties associated with the dynamics and kinematics of a door to achieve successful opening. The present paper proposes a dynamic force/velocity controller which uses adaptive estimation of the radial directi...
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