Reduced Complexity Manipulation with the Parallel-Jaw Gripper

这项研究探讨了极简主义的新兴概念 机器人，通过分析机械手的顺应运动规划 具有降低的感测和致动复杂性， 平行颚夹持器，作为替代更复杂的 多指、多关节的机器人手， 很难编程。 这项工作调查的手段， 把握、识别、定位和定位 工业上重要的一类部件，其横截面可以 由曲线弧和直线弧的组合表示 多边形边。 该研究结合了计算分析， 部分几何与随机估计理论的方法。 一 可编程零件配套系统将开发为一个 实验测试台 该系统将自动生成 用于零件CAD模型的程序，用于机器人识别和 操纵这些部件。

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.