Inertia estimation of robot end effector for dextrous object grasping

摘要

Most of the robotic manipulators are used to perform only repetitive fixed objectives because the robustness of the motion is restrained due to the properties of grasping objects and tools. It is hard to perform a robust manipulation with grasping object based uncertainties. It is important to estimate physical parameters of the grasping object such as grasping position and inertia in order to extend the applications of robot industry. Precise inertia estimation of a robotic end effector is a challenging task particularly with different grasping objects. This paper presents a method for inertia estimation of a robot end effector for different position object grasping. The inertia of the end effector is planning to be estimated using simple harmonic motion based estimation method. Firstly, estimation of inertia will be conducted for objects which are having a known inertia in order to verify the method. The performance of the proposed method has been discussed and verified using simulation and experimental results.