Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and classification algorithm for intersecting all possible grasps over all parts and finding a single common grasp suitable for all objects. We present simulations of planar and spatial objects to validate the feasibility of the approach.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    On the Computation of a Common n-finger Robotic Grasp for a Set of Objects


    Beteiligte:
    Avishai Sintov (Autor:in) / Roland Menassa (Autor:in) / Amir Shapiro (Autor:in)

    Erscheinungsdatum :

    03.10.2013


    Anmerkungen:

    oai:zenodo.org:1088676



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    The Soft-SixthFinger: a wearable EMG controlled robotic extra-finger for grasp compensation in chronic stroke patients

    HUSSAIN, IRFAN / SALVIETTI, GIONATA / SPAGNOLETTI, GIOVANNI et al. | BASE | 2016

    Freier Zugriff

    Robotic finger

    NEFF EDWARD A / VU TOAN M / ANTONIUS VAN DE VEN JOHANNES THEODORUS et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    Robotic finger

    NEFF EDWARD A / VU TOAN M / ANTONIUS VAN DE VEN JOHANNES THEODORUS et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    Learning to Recognize and Grasp Objects

    Pauli, J. | British Library Online Contents | 1998