突破机器人额定载荷限制，实现超规格物体操作
Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation
- 通过逆动力学分析，发现机械臂可安全处理超过两倍额定载荷
- 实测表明，负载达额定值2.1倍时仍能稳定运行
- 结合非抓取运动与抓取操作，提升超载任务成功率
传统关节型机器人运动规划受限于厂商定义的载荷上限。我们对Franka Emika Panda机器人进行实证分析，发现该限制过度压缩了机器人的动态可达任务空间。实验结果表明，该机器人可在负载超过额定容量两倍的情况下稳定运行。此外，初步研究表明，将非抓取运动基元与基于抓取的操作相结合，有望进一步提升超过额定载荷的操纵任务的成功率。
原文摘要 · Abstract (English)
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.
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