迈向超额定负载处理：面向多技能机器人操作的逆动力学分析
Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation
AI总结：
针对机器人受额定负载限制的问题，本文通过 Franka Emika Panda 的逆动力学实证分析，证明其可处理两倍以上额定负载，并指出结合非抓握原语可提升超重操作成功率。
摘要：
关节式机器人的运动规划传统上由在制造商定义的负载限制内运行的算法支配。我们对 Franka Emika Panda 机器人的实证分析表明，这种方法不必要地限制了机器人动态可达的任务空间。这些结果为此类机器人确立了扩展的运行包络，表明它们能够处理超过其额定容量两倍的负载。此外，我们的初步发现表明，将非抓握运动原语与基于抓取的操作相结合，有可能进一步提高涉及超过额定限制负载的操作任务的成功率。
英文摘要：
Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka Emika Panda robot demonstrates that this approach unnecessarily restricts the robot's dynamically-reachable task space. These results establish an expanded operational envelope for such robots, showing that they can handle payloads of more than twice their rated capacity. Additionally, our preliminary findings indicate that integrating non-prehensile motion primitives with grasping-based manipulation has the potential to further increase the success rates of manipulation tasks involving payloads exceeding nominal limits.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
