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.
Abstract (translated)
为模块化机器人规划运动通常是遵循制造商定义的负载限制的算法。我们对弗兰克a爱米卡熊猫机器人进行实证研究的结果表明，这种方法无必要地限制了机器人的动态可到达任务空间。这些结果为这类机器人建立了更大的操作范围，表明它们能够处理超过额定负载两倍的负载。此外，初步研究结果表明，将非抓握运动原语与抓握式操作相结合，有可能进一步增加涉及超过额定负载的任务的成功率。
URL
https://arxiv.org/abs/2409.18939
