Automated Grasp Planning and Path Planning for a Robot Hand-Arm System

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...

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Main Authors: Liu, Yi-Ren, Huang, Ming-Bao, Huang, Han-Pang
Format: Conference Proceeding
Language:English
Subjects:
Force
Friction
Grasping
Grippers
Manipulators
Robot kinematics
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Huang, Ming-Bao
Huang, Han-Pang
description 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.
doi_str_mv 10.1109/SII.2019.8700433
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subjects Force
Friction
Grasping
Grippers
Manipulators
Robot kinematics
title Automated Grasp Planning and Path Planning for a Robot Hand-Arm System
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