scholarly journals An energy balance based method for parameter identification of a free-flying robot grasping an unknown object

2018 ◽  
Author(s):  
Monica Ekal ◽  
Rodrigo Ventura
Keyword(s):  
Energy Balance ◽  
Parameter Identification ◽  
Robot Grasping ◽  
Flying Robot ◽  
Unknown Object

scholarly journals Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-Flying Space Robots

2005 ◽  
Author(s):  
Roberto Lampariello ◽  
Gerhard Hirzinger
Keyword(s):  
Energy Consumption ◽  
Experimental Design ◽  
Parameter Identification ◽  
Suitable Model ◽  
Space Robots ◽  
Full System ◽  
End Effector ◽  
Dynamic Motion ◽  
Inertial Parameters ◽  
Flying Robot

A method is proposed for the identification of the inertial parameters of a free-flying robot directly in orbit, using accelerometers. This can serve to improve the path planning and tracking capabilities of the robot, as well as its efficiency in energy consumption. The method is applied to the identification of the base body and of the load on the end-effector, giving emphasis to the experimental design. The problem of the identification of the full system is also addressed in its theoretical aspects. The experience from the Getex Dynamic Motion experiments performed on the ETS-VII satellite have allowed to determine a most suitable model for the identification.

Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand

1993 ◽  
Vol 5 (1) ◽  
pp. 12-18 ◽  
Author(s):  
Nobuharu Mimura ◽  
◽  
Yasuyuki Funahashi ◽  
Keyword(s):  
Parameter Identification ◽  
Robot Hand ◽  
Joint Angles ◽  
Unknown Parameters ◽  
Numerical Example ◽  
Contact Points ◽  
Unknown Object

Unknown forced and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system can be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.

Dynamic Parameter Identification of Unknown Object Handled by Space Manipulator

2014 ◽  
Vol 487 ◽  
pp. 276-281 ◽  
Author(s):  
Gang Chen ◽  
Zhi Lian Chen ◽  
Qing Xuan Jia ◽  
Han Xu Sun
Keyword(s):  
Parameter Identification ◽  
Dynamic Characteristic ◽  
Dynamic Parameter ◽  
Momentum Conservation ◽  
Dynamic Parameters ◽  
Robot System ◽  
Space Manipulator ◽  
Experimental Process ◽  
Dynamic Parameter Identification ◽  
Unknown Object

This paper presents a dynamic parameter identification method of the unknown object handled by manipulator. Since the load will change the dynamic characteristic of space robot system, it is necessary to identify the dynamic parameters of the handled object. The dynamic parameters of the handled object are identified based on principle of momentum conservation in this paper. The principle and experimental process of the identification is introduced and the feasibility of the method is verified by simulation.

Parameter identification of unknown object handled by free-flying space robot

1994 ◽  
Vol 17 (3) ◽  
pp. 488-494 ◽  
Author(s):  
Yoshisada Murotsu ◽  
Kei Senda ◽  
Mitsuhiro Ozaki ◽  
Showzow Tsujio
Keyword(s):  
Parameter Identification ◽  
Space Robot ◽  
Unknown Object

scholarly journals MODELING SIMULATION AND ANALYSIS OF ROBOT GRASPING POSE FOR NOVEL OBJECTS

2021 ◽  
Vol 9 (2) ◽  
pp. 195-206
Author(s):  
Dhanasekar.J, Sengottuvel. P
Keyword(s):  
Center Of Mass ◽  
End Effector ◽  
Novel Object ◽  
Modeling Simulation ◽  
Control Signals ◽  
Novel Objects ◽  
Motor Dexterity ◽  
Robot Grasping ◽  
Program Data ◽  
Unknown Object

Modern day robotics aims at bringing precision and motor dexterity of humans to machines. Many scientists are working on mimicking the attributes of a human in order to grasp different object. Initially, the robots were preprogrammed to hold different object but this method is not as effective against a novel object because the image of a novel object does not match with the pre-stored program data. Hence end effector will not be able to pick up the object or it may get damaged. In this paper, a new method is discussed on the dimension and the center of mass. The robot automatically calculates the grasping point and finds the suitable pose of the gripper to grasp the desired object. This proposed work of robot simulation is achieved using MATLAB 8.2 and Creo parametric 2.0. The robot model designed using Creo is fed as input into the MATLAB to generate control signals for the robot to grasp novel objects. By this the robot will automatically grasp a new unknown object by comparing the database already created and be able to handle the object dynamically.

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