Automated gripper jaw design and grasp planning for sets of 3D objects
Automated gripper jaw design and grasp planning for sets of 3D objects
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DOI：
10.1002/rob.10076
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发表时间：
2003-03-01
期刊：
影响因子：
--
通讯作者：
Bone, GM
中科院分区：
文献类型：
--
作者：
Balan, L;Bone, GM
提出了一种针对给定多面体目标自动生成通用爪形设计规划夹具的算法。该算法适用于具有三圆柱指的平行爪爪。共同的颚设计消除了定制夹具和更换工具的需要。所提出的颚形和规划方法将定位手指接触的搜索从6个自由度减少到1个自由度。提出了用于检测力闭合和预测干扰的封闭算法。介绍了三种质量度量来提高计划抓点的质量。第一个是衡量抓握对实际和计划手指位置之间误差的敏感度。二是用接触力来衡量抓握的效率。第三是力闭合对摩擦的依赖性的度量。这些质量指标并不局限于圆柱形手指，可以应用于n个手指抓握。该算法在一台标准PC上运行，在不到5分钟的时间内为一组共有456个三角形面的5个物体生成了一个解决方案。(C) 2003 Wiley期刊有限公司
An algorithm for automatically generating a common jaw design and planning grasps for a given set of polyhedral objects is presented. The algorithm is suitable for a parallel-jaw gripper equipped with three cylindrical fingers. The common jaw design eliminates the need for custom made grippers and tool changing. The proposed jaw configuration and planning approach reduces the search associated with locating the finger contacts from six degrees-of-freedom to one degree-of-freedom. Closed-form algorithms for checking force closure and for predicting jamming are developed. Three quality metrics are introduced to improve the quality of the planned grasps. The first is a measure of the sensitivity of the grasp to errors between the actual and planned finger locations. The second is a measure of the efficiency of the grasp in terms of the contact forces. The third is a measure of the dependence of force closure on friction. These quality metrics are not restricted to cylindrical fingers and can be applied to n finger grasps. Running on a standard PC, the algorithm generated a solution in less than five minutes for a set of five objects with a total of 456 triangular facets. (C) 2003 Wiley Periodicals, Inc.