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Identifying Object Grasps for Manipulation

Vadiraj, Supriya (2020) Identifying Object Grasps for Manipulation. DLR-Interner Bericht. DLR-IB-RM-OP-2021-57. Master's. Hochschule Bonn-Rhein-Sieg.

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In the field of robot manipulation, grasping is an important research area. Identifying the different properties of objects is necessary for manipulating and grasping objects in real environments before being used in automation. This increases the efficiency of the tasks during execution. Robust grasps can be evaluated in simulation environment. But the simulated models and the real robotic systems have inconsistencies due to modeling and calibration errors. This necessitates measuring the success of the grasp on real systems, not just in simulated environment. The objective of the thesis remains to develop an intelligent system which is capable of generating and evaluating grasp quality metrics on real system. Due to the inaccessibility to real systems, the final results evaluate the success of the grasp data in the simulator and sequence them, to ease the testing on the real systems using these results. A detailed approach and implementation to achieve the feasible grasps, to obtain success rates of all the grasps and generate an optimal sequence of grasps is provided in this thesis. The evaluation has been performed on DLR Omnirob in simulation to validate the desired results for the same. The main results indicate identifying object grasps for a given object which are feasible and reachable. From these results, an optimal sequence of grasps are generated which can be tested on real systems.

Item URL in elib:https://elib.dlr.de/142344/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Identifying Object Grasps for Manipulation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:September 2020
Refereed publication:No
Open Access:No
Keywords:robotics grasp planning
Institution:Hochschule Bonn-Rhein-Sieg
Department:Department of Computer Science
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lehner, Peter
Deposited On:25 May 2021 11:05
Last Modified:25 May 2021 11:05

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