Squeezed screw trajectories for smooth regrasping movements of robot fingers

Author(s)

Stuecheli, Marius ^[1] ; Caurin, Glauco A. P. ^[2] ; Pedro, Leonardo M. ^[3] ; Siegwart, Roland Y. ^[4]

Affiliation

^[1] Swiss Fed Inst Technol, Pdlz Prod Dev Grp Zurich, CH-8092 Zurich - Switzerland

^[2] Univ Sao Paulo, Engn Sch Sao Carlos EESC, BR-13566590 Sao Carlos, SP - Brazil

^[3] Univ Fed Sao Carlos, CCET, BR-13565905 Sao Carlos, SP - Brazil

^[4] Swiss Fed Inst Technol, Autonomous Syst Lab, CH-8092 Zurich - Switzerland

• Document type: Journal article
• Source: Journal of the Brazilian Society of Mechanical Sciences and Engineering; v. 35, n. 2, p. 83-92, JUN 2013.
• Web of Science Citations: 4

Abstract

In dextrous robotic manipulation we are often confronted with the problem that the robot fingers need to be repositioned on the object surface, either because a finger reaches its workspace limits or because the manipulation planner decides to do so due to its manipulation strategy. In this paper we propose a trajectory type for the purpose of regrasping, named ``Squeezed Screw{''}. It is smooth and has a relatively simple shape. It is a superposition of a movement on an ellipse with a translation in an arbitrary direction in 3D. It can be generated from only eight input parameters. An algorithm was developed to calculate the path geometry from these parameters. A comparison with a Rapidly-exploring Random Tree algorithm points out the advantages of this novel trajectory type. (AU)

• FAPESP's process: 10/02613-1 - Robot aided Tele-Rehabilitation - RATR
• Grantee: Glauco Augusto de Paula Caurin
• Support Opportunities: Scholarships abroad - Research