Scipediacontent: Scipediacontent moved page Draft Content 393326186 to Pham Pham 2018a

2021-02-02T00:56:06Z

Scipediacontent moved page Draft Content 393326186 to Pham Pham 2018a

Scipediacontent: Created page with " == Abstract == Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.)...."

2021-02-02T00:56:00Z

Created page with " == Abstract == Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.)...."

New page

== Abstract ==

Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.). By "critically fast" we mean the fastest possible movement for transporting an object such that it does not slip or fall from the suction cup. The main difficulties are: (i) handling the contact between the suction cup and the object, which fundamentally involves kinodynamic constraints; and (ii) doing so at a low computational cost, typically a few hundreds of milliseconds. To address these difficulties, we propose (a) a model for suction cup contacts, (b) a procedure to identify the contact stability constraint based on that model, and (c) a pipeline to parameterize, in a time-optimal manner, arbitrary geometric paths under the identified contact stability constraint. We experimentally validate the proposed pipeline on a physical robot system: the cycle time for a typical pick-and-place task was less than 5 seconds, planning and execution times included. The full pipeline is released as open-source for the robotics community.

Comment: 7 pages, 5 figure

== Original document ==

The different versions of the original document can be found in:

* [http://arxiv.org/abs/1809.03151 http://arxiv.org/abs/1809.03151]

* [http://arxiv.org/pdf/1809.03151 http://arxiv.org/pdf/1809.03151]

* [http://xplorestaging.ieee.org/ielx7/8780387/8793254/08794081.pdf?arnumber=8794081 http://xplorestaging.ieee.org/ielx7/8780387/8793254/08794081.pdf?arnumber=8794081],
: [http://dx.doi.org/10.1109/icra.2019.8794081 http://dx.doi.org/10.1109/icra.2019.8794081]

* [https://dblp.uni-trier.de/db/conf/icra/icra2019.html#PhamP19 https://dblp.uni-trier.de/db/conf/icra/icra2019.html#PhamP19],
: [https://arxiv-export-lb.library.cornell.edu/abs/1809.03151 https://arxiv-export-lb.library.cornell.edu/abs/1809.03151],
: [https://academic.microsoft.com/#/detail/2966982786 https://academic.microsoft.com/#/detail/2966982786]

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Pham Pham 2018a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 393326186 to Pham Pham 2018a

Scipediacontent: Created page with " == Abstract == Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.)...."