Automated Grasp Planning and Path Planning for a Robot Hand-Arm System
| Autor: | Han-Pang Huang, Ming-Bao Huang, Yi-Ren Liu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Computer science business.industry GRASP Minimum bounding box algorithms 02 engineering and technology Geometric shape Computer Science::Robotics 020901 industrial engineering & automation Minimum bounding box 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Computer vision Motion planning Artificial intelligence business Robotic arm |
| Zdroj: | SII |
| Popis: | Objects in daily life are not ideal geometric shapes, but most are complex and irregular in shape. Because the number of degrees of freedom (DOFs) of a multi-fingered robot hand is more than the simple gripper, it is important to find the grasping points. This paper primarily focuses on determining the grasping points on complex geometric shapes with a multi-fingered robot hand. Each grasping can be described by Grasp Wrench Space (GWS). The quality measure can be determined by analyzing the GWS. The bounding box of the object is a constraint on the workspace of the robot hand-arm system. According to the constraints, the Rapidly-exploring Random Trees (RRT) connect algorithm is used to search for a collision-free path in the joint space of the robot arm. The contact points, i.e. grasping points, on the object can be identified through the bounding box algorithm. Then the obstacle-free path can be automatically generated. Simulations and experiments justify the proposed algorithm with satisfactory results. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|