基于非对称枢轴操作的空心物体精确放置实验评估
Experimental Evaluation of Precise Placement of the Hollow Object with Asymmetric Pivot Manipulation
AI总结：
本文提出非对称枢轴操作方法，利用位置控制机械臂和商用平行爪夹爪对多种空心物体实现孔洞抓取，并通过实验验证了高成功率和在精确放置任务中的实用性。
摘要：
本文提出了一种非对称枢轴操作方法，用于拾取刚性空心物体以实现孔洞抓取。该枢轴运动由位置控制的机械臂执行，使夹爪能够有效抓取水平放置的空心物体，其中一个夹爪手指位于物体孔洞内部，另一个手指沿长度方向接触其外表面。孔洞抓取被人类广泛用于操作空心物体，有助于实现精确放置，并支持高效的后续操作，例如在制造过程中将物体紧密装入托盘或准确插入狭窄的机器槽位。用于孔洞抓取的非对称枢轴操作适用于各种尺寸和孔洞形状的空心物体，包括瓶子、杯子和管道。我们研究了满足成功抓取构型力平衡条件的可变参数。该方法可使用直接安装在机械臂上的商用平行爪夹爪实现，无需任何改造。实验验证证实，使用我们提出的非对称枢轴操作可以在多种空心物体上实现孔洞抓取，并表现出较高的成功率。在测试平台上实验演示了两个用例，即空心圆柱形物体的对齐和送料，清楚地展示了孔洞抓取方法的优势。
英文摘要：
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm, enables the gripper to effectively grasp hollow objects placed horizontally such that one gripper finger is positioned inside the object's hole, while the other contacts its outer surface along the length. Hole grasp is widely employed by humans to manipulate hollow objects, facilitating precise placement and enabling efficient subsequent operations, such as tightly packing objects into trays or accurately inserting them into narrow machine slots in manufacturing processes. Asymmetric pivoting for hole grasping is applicable to hollow objects of various sizes and hole shapes, including bottles, cups, and ducts. We investigate the variable parameters that satisfy the force balance conditions for successful grasping configurations. Our method can be implemented using a commercially available parallel-jaw gripper installed directly on a robot arm without modification. Experimental verification confirmed that hole grasp can be achieved using our proposed asymmetric pivot manipulation for various hollow objects, demonstrating a high success rate. Two use cases, namely aligning and feeding hollow cylindrical objects, were experimentally demonstrated on the testbed to clearly showcase the advantages of the hole grasp approach.
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。
