Identifying and positioning parts using RISC sensors and RISC grippers together

摘要

This paper introduces our work on "reliable, immediate, simple and cheap" (RISC) robotics, focusing on removing pose uncertainty of parts, which is the principal cause of mating failure. To maximize the RISC effects, we recommend using RISC sensors and RISC grippers together in part picking. Before grasping, parts can be identified and roughly localized using optical sensors. During grasping, parts can be precisely positioned using a two-fingered gripper. After grasping, parts can be further positioned using optical sensors. Some remarks are made on the problem of mapping the part pose to the sensed containing hexagon. Several RISC grippers better than parallel jaws are proposed. Further positioning parts after grasping is illustrated.