Planning of regrasp operations
Planning of regrasp operations
复制标题
重抓行动的规划
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
H. Mosemann
中科院分区：
文献类型：
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作者：
S. Stoeter;S. Voss;N. Papanikolopoulos;H. Mosemann
在当代的工作单元中，机器人操纵器往往连简单的取放操作都无法解决。更具体地说，大多数系统要求以相同的预定义方式提供每个对象。在生产周期中引入再抓取可以放松对供应机制的约束。重新抓取描述了当对象的抓取抓取与其放下抓取不兼容时必须执行的操作。本文提出了一种新的方法来解决配有平行颚末端执行器的机器人的再抓取问题。提出的方法首先评估对象的可能抓取和放置位置。这些随后被组合成抓-放-抓三元组。通过搜索相容抓取-放置-抓取三元组的结果空间，生成从拾取到放下抓取的再抓取序列。该算法同时考虑了机械臂和物体的运动学约束和几何约束。通过将计算细分为离线和快速在线阶段来解决计算问题。
Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.