Time-optimal trajectory planning for objects transport with vacuum grippers under grasp-failure constraints

Brief Project Description

The project involves the development of an optimization code to determine the optimal trajectory (path + time parametrization) for performing pick-and-place of objects while ensuring the vacuum gripper maintains suction. Motions may exploit tilt-compensation strategies to optimally distribute forces on the suction cup. The algorithm can incorporate collision-avoidance constraints in the definition of the path shape. If the path shape is prescribed, studies can be carried out to map motion duration as a function of the inertial properties of the object being transported.

This thesis is conducted in collaboration with: IMA-UNIBO DIGIMECH

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