Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation
Year: 2024
Type: preprint
Abstract: Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka Emika Panda robot demonstrates that this approach unnecessarily restricts the robot's dynamically-reachable task space. These results establish an expanded operational envelope for such robots, showing that they can handle payloads of more than twice their rated capacity. Additionally, our preliminary findings indicate that integrating non-prehensile motion primitives with grasping-based manipulation has the potential to further increase the success rates of manipulation tasks involving payloads exceeding nominal limits.
Source: arXiv (Cornell University)
Authors: Pasricha, Anuj, Roncone, Alessandro
Institution: University of Colorado Boulder
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Office of Naval Research
Awards: G4720003262, G8876996369
OpenAlex ID: W4403799681