A Simulation-Based Grasp Planner for Enabling Robotic Grasping during Composite Sheet Layup
Omey M. Manyar Jaineel Desai Nimish Deogaonkar Rex Jomy Joesph Rishi Malhan Zachary McNulty Bohan Wang Jernej Barbič Satyandra K. Gupta Omey M. Manyar Jaineel Desai Nimish Deogaonkar Rex Jomy Joesph Rishi Malhan Zachary McNulty Bohan Wang Jernej Barbič Satyandra K. Gupta
Composites are increasingly becoming a material of choice in the aerospace and automotive industries. Currently, many composite parts are produced by manually laying up sheets on complex molds. Composite sheet layup requires executing two main tasks: (1) grasping a sheet and (2) draping it on the mold. Automating the layup process requires automation of these two tasks. This paper is focused on th...