Reduced Complexity Manipulation with the Parallel-Jaw Gripper

本研究探索了极简机器人的新兴概念，通过分析具有降低传感和驱动复杂性的机械手的顺应运动规划，如平行颚爪，作为更复杂的多指，多关节机械手的替代方案，这可能更难以编程。这项工作研究了工业上重要的一类零件的程序掌握、识别、定位和定位的方法，这些零件的横截面可以由曲线弧和直多边形边的组合来表示。该研究将零件几何计算分析与随机估计理论相结合。将开发一个可编程零件套件系统作为实验测试平台。该系统将自动生成零件的CAD模型程序，供机器人对零件进行识别和操作。

This research explores emerging concepts of minimalist robotics, by analyzing compliant motion planning for manipulators with reduced sensing and actuation complexity such as the parallel-jaw gripper, as alternatives to more complex multifingered, multijointed robot hands which can be more difficult to program. The work investigates means to program grasp, recognition, orientation, and positioning of an industrially-important class of parts whose cross-sections can be represented by a combination of curved arcs and straight polygonal edges. The research combines computational analysis of part geometry with methods from stochastic estimation theory. A programmable parts kitting system will be developed as an experimental testbed. This system will automatically generate programs for CAD models of parts, for robot recognition and manipulation of those parts.