A common 3-finger grasp search algorithm for a set of planar objects

Avishai Sintov*, Srinivas Raghothama, Roland Menassa, Amir Shapiro

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This work proposes an algorithm for designing a simple End Effector configuration for a robotic arm which is able to grasp a given set of objects. The algorithm searches for a common 3-finger grasp over a set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account an external wrench (force and torque) applied to the object. The mapped grasps are represented by feature vectors in a high-dimensional space. This feature vector describes the shape of the gripper. We then generate a database of all possible grasps for each object represented as points in the feature vector space. Then we use another search algorithm for intersecting all points over the entire sets and finding common points suitable for all objects. Each point (feature vector) is the grasp configuration for a group of objects, which implies for the end-effector design. The final step classifies the grasps found to subsets of the objects, according to the common points found, this with preference to find one grasp to all the objects. The algorithm will be useful for assembly line robots in reducing end-effector design time, end-effector manufacturing time and final product cost.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Automation Science and Engineering
Subtitle of host publicationGreen Automation Toward a Sustainable Society, CASE 2012
Pages1095-1100
Number of pages6
DOIs
StatePublished - 2012
Externally publishedYes
Event2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of
Duration: 20 Aug 201224 Aug 2012

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Country/TerritoryKorea, Republic of
CitySeoul
Period20/08/1224/08/12

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