Reduced Complexity Manipulation with the Parallel-Jaw Gripper

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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.