Accelerating Robotic Picking of Rigid Objects with a Compliant Pneumatic Gripper and an Impact-Aware Trajectory Plan
Frederik Ostyn,Bram Vanderborght,Guillaume Crevecoeur,Frederik Ostyn,Bram Vanderborght,Guillaume Crevecoeur
Industrial robots are capable of moving at high speed. Each time they come into contact with their environment, e.g. to pick up an object, they decelerate to a near standstill. A solution involving a compliant pneumatic gripper and adapted trajectory plan is presented to initiate contact at a higher speed while remaining within hardware limits. By adding overload clutches in either the robot arm o...
