Automated Grasp Planning and Path Planning for a Robot Hand-Arm System
| Autor: | Yi-Ren Liu, 劉貽仁 |
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| Rok vydání: | 2016 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 104 Analysis of a multi-fingered robot hand for grasping objects is an important research issue in robotics. Objects in daily life are not simple geometric shape like square, spherical, cylindrical, conical shapes. Most are the complex geometric shapes. Since the number of degrees of freedom of a multi-fingered robot hand is more than the simple gripper, it is important to find the grasping points. This thesis mainly focuses on how to determine the grasping points on the complex geometric shapes with the multi-fingered robot hand. Each grasping can be described by grasp wrench space (GWS). The quality measure can be determined from analyzing the GWS. The bounding box of object is a constraint on the workspace of the robot hand-arm system. According to the constraints, the random based algorithm can speed up the searching speed. The damped least square (DLS) method is use for solving the inverse kinematics problem about singular points. The rapidly-exploring random trees (RRT) – connect algorithm is used to search for the collision-free path in the joint space of the robot arm. The point cloud can be processed by point cloud processing and surface reconstruction. It combines the real environment and simulation. The goal can be reached through these methods. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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