SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion and computing optimal gripper pose to grasp objects. In this work, we propose the methods to analyze the accuracy of a 3D environment reconstructed using a L...

The gripping operations are particularly important in handling tasks and especially robotic assembly. The gripping of items with various shapes and configurations required the transition form te grippers with jaws to the anthropomorphic grippers with fingers. A significant number of such grippers were made and tested in the last few years, but no relatively simple, reliable and low priced solut...

In this paper we present the design process of a vacuum gripper based on an existing design, which have to be modified. During each step was analysed by finite element methods, see that change in model made into right direction. these steps appropriate solution selected used later. base and results its analysis. Later discuss modifications final result simulations modified geometries.

In advanced robotics applications in unstructured environments (e.g. those foreseen in space) some degree of dexterity and autonomy is necessary in order to safely and successfully execute the required tasks. With this respect, besides the kinematic configuration, important aspects to be considered in the design of robotic end effectors are the sensorial equipment and proper control strategies....

In [19] we specified robot grippers that can orient and grasp parts with an arrangement of trapezoidal jaw modules. Since jaw modules may be imprecisely machined, we define a parametric tolerance class such that part alignment is guaranteed for all jaw geometry in the class. This tolerance class is derived based on analysis of toppling, motion trajectory, and form-closure. Given maximal jaw geo...