Grasp planning with kinematic constraints

Miu-Ling Lam, Dan Ding, Yunhui Liu
{"title":"Grasp planning with kinematic constraints","authors":"Miu-Ling Lam, Dan Ding, Yunhui Liu","doi":"10.1109/IROS.2001.976290","DOIUrl":null,"url":null,"abstract":"This paper presents an algorithm to calculate the fingertip positions, which can enhance the closure property for a n-finger grasp and ensure the kinematic feasibility. The algorithm starts by selecting a set of initial fingertip positions within the workspace of the robotic hand and on the surface of the object. If the currently selected grasp does not form closure, then the origin of the wrench space lies out side of the convex hull of the primitive contact wrenches. In this case the adjacent positions of each grip point can be generated to form a candidate set of grasps and the most promising one will be adopted based on the measure of a grasp from being a form closure. The measure is defined by considering the distance between the convex hull and the origin. The algorithm is executed iteratively until the origin is eventually contained by the convex hull. Finally, we illustrate the efficiency of the proposed algorithm with an implementation of three numerical examples.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2001.976290","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7

Abstract

This paper presents an algorithm to calculate the fingertip positions, which can enhance the closure property for a n-finger grasp and ensure the kinematic feasibility. The algorithm starts by selecting a set of initial fingertip positions within the workspace of the robotic hand and on the surface of the object. If the currently selected grasp does not form closure, then the origin of the wrench space lies out side of the convex hull of the primitive contact wrenches. In this case the adjacent positions of each grip point can be generated to form a candidate set of grasps and the most promising one will be adopted based on the measure of a grasp from being a form closure. The measure is defined by considering the distance between the convex hull and the origin. The algorithm is executed iteratively until the origin is eventually contained by the convex hull. Finally, we illustrate the efficiency of the proposed algorithm with an implementation of three numerical examples.
掌握运动约束下的规划
提出了一种计算指尖位置的算法,提高了n指抓握的闭合性,保证了抓握的运动学可行性。该算法首先在机器人手的工作空间和物体表面上选择一组初始指尖位置。如果当前选择的抓握不形成闭合,则扳手空间的原点位于原始接触扳手凸壳的外侧。在这种情况下,可以生成每个抓点的相邻位置以形成候选抓点集,并根据抓点是否为形式闭合的度量采用最有希望的抓点。该度量通过考虑凸包与原点之间的距离来定义。该算法迭代执行,直到原点最终包含在凸包中。最后,通过三个数值算例说明了该算法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信