A robotic grasping simulator, called Graspit!, is presented as versatile tool for the grasping community. The focus of the grasp analysis has been on force-closure grasps, which are useful for pick-and-place type tasks. This work discusses the different types of world elements and the general robot definition, and presented the robot library. The paper also describes the user interface of Graspit! and present the collision detection and contact determination system. The grasp analysis and visualization method were also presented that allow a user to evaluate a grasp and compute optimal grasping forces. A brief overview of the dynamic simulation system was provided.

/pdf/graspit-a-versatile-simulator-for-robotic-grasping-4mi1kz59xb.pdf

Graspit! A versatile simulator for robotic grasping

An automated banking machine operated responsive to data bearing records includes a card reader that is operative to read data from user cards including financial account identifying data, and to cause financial transfers responsive to the card data. The automated banking machine includes a sheet accepting device. The sheet accepting device is operative to receive a stack of sheets and to separate each sheet from the stack. Each sheet is aligned with a sheet path and analyzed by analysis devices including at least one magnetic read head, an imager, and/or a validation device. Sheets determined to have at least one property of a genuine sheet are processed and stored in the machine.

Banking system controlled responsive to data bearing records

Comparison of the warpage optimization in the plastic injection molding using ANOVA, neural network model and genetic algorithm

In this paper, we discuss a human-robot (H-R) coexistent system which allows H-R contact actions in the safeguarding space mechanically bounded by the human pain tolerance limit. The first half of this paper describes our study on the evaluation of the human pain tolerance limit which determines an individual's safeguarding space. We also show the human-safety-oriented design of a robot. The robot is covered with a viscoelastic material to achieve both impact force attenuation and contact sensitivity, keeping within the human pain tolerance limit. The robot, with simple direct-drive (DD) motor torque detection and emergency stop capabilities, automatically stops whenever any severe H-R contact occurs. In the second half of the paper, we propose a more efficient H-R system, which allows H-R contact for improving work efficiency, as long as the contact does not exceed the human pain tolerance limit. For this purpose, a robot is controlled to reduce its velocity with high reliability at an incipient stage of its contact with a human. Through experiments, we demonstrate the validity and efficient utility of the safeguarding space. The first experiment verifies that the developed robot exerts a contact force less than the human pain tolerance limit establishing the safeguarding space. The second experiment comparatively shows the robot's velocity reduction to accept a safe contact with the human in the space.

Human-robot contact in the safeguarding space

Analytic and numerical computations used in robotics research provide tools for automated computer animation of the human figure.

Techniques for Generating the Goal-Directed Motion of Articulated Structures

As more and more robots are installed in the industrial sector, the statistical likelihood for accidents involving robots increases unless careful design and implementation of safety features occurs. Some worker deaths related to robot accidents have been reported in Japan. Most workers and users of robots have embarked on a safety program depending on personnel training, preventative maintenance, and perimeter barriers and/or interlocks. Most of these necessary methods still do not address the issue of personnel required to be close to a robot during teaching, maintenance, and troubleshooting. The results of a research project underway at Rensselaer Polytechnic Institute to develop a computer controlled sensor system that will monitor the working envelope of a robot are discussed. If an dangerous situation occurs, this system will cause the robot to take corrective action to avoid personnel injury or damage to the robot or equipment.

A Safety and Collision Avoidance System for Industrial Robots

A mechanism for moving a door relative to an access opening in a door frame includes three links pivotally connected between the door and the door frame permitting outward and lateral movement of the door. A structural member or pillar releasably secured to the door frame can move with the door and the mechanism can include a supporting member extending beneath and supporting the door during movement.

Mechanism for moving a door

The lift automated guided vehicle ("lift AGV"} includes a wheeled, powered frame having a dock end and an opposed rear end and configured for bi-directional movement between aisles of storage racks storing trays of goods within storage compartments of the rack. The lift AGV includes a lower bi-directional buffer conveyor extending between the dock end and the rear end of the frame; a lift secured to the dock end of the frame and configured for securing and moving trays on to and off of a mobile robot tray delivery device adjacent the dock end of the frame, and optionally onto and off of the lower buffer; and a pick-and-place head secured to a rear-end. The pick-and-place head is configured for movement of a tray onto and from the lower bi-directional buffer conveyor in at least a direction into and out of a storage compartment.

Lift automated guided vehicle for warehouse tray handling

Robot arm displacement curves are constructed, assuming that all links in the arm are rigid. This can be accomplished by using familiar, cam-motion profile techniques whenever possible. The benefits of these considerations can help achieve smoother motion while minimizing wear on and effort by the robot actuators. A set of motion primitives within the General Robot Arm Simulation Program (GRASP) are presented as examples.

Simulating Motion Elements of General-Purpose Robot Arms

Fixtures and methods of using fixtures to facilitate the fabrication of devices having thin films, for example, gasketed components of fuel-cell membrane electrode assemblies, are disclosed. In one aspect, the fixture (10) comprises a plate (12) having an aperture (14) and means (16) for mounting a thin film (17) to the plate wherein the thin film at least partially obstructs the aperture and wherein the thin film provides a surface for mounting at least one component of a device. Another aspect is a fixture for facilitating the fabrication of a fuel-cell membrane electrode assembly which includes a plate having an aperture and means for mounting a gasket to the plate wherein the gasket at least partially obstructs the aperture and wherein the gasket provides a surface for mounting at least one electrode for a fuel-cell membrane electrode assembly.

Stephen Derby

Papers

A Safety and Collision Avoidance System for Industrial Robots

Mechanism for moving a door

Lift automated guided vehicle for warehouse tray handling

Simulating Motion Elements of General-Purpose Robot Arms

Fixtures and methods for facilitating the fabrication of devices having thin film materials