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首页> 外文期刊>Journal of robotic systems >Automated Grippcr Jaw Design and Grasp Planning for Sets of 3D Objects
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Automated Grippcr Jaw Design and Grasp Planning for Sets of 3D Objects

机译：3D对象集的自动化Grippcr钳口设计和抓取规划

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摘要

An algorithm for automatically generating a common jaw design and planning grasps for a given set of polyhedral objects is presented. The algorithm is suitable for a parallel-jaw gripper equipped with three cylindrical fingers. The common jaw design eliminates the need for custom made grippers and tool changing. The proposed jaw configuration and planning approach reduces the search associated with locating the finger contacts from six degrees-of-freedom to one degree-of-freedom. Closed-form algorithms for checking force closure and for predicting jamming are developed. Three quality metrics are introduced to improve the quality of the planned grasps. The first is a measure of the sensitivity of the grasp to errors between the actual and planned finger locations. The second is a measure of the efficiency of the grasp in terms of the contact forces. The third is a measure of the dependence of force closure on friction. These quality metrics are not restricted to cylindrical fingers and can be applied to n finger grasps. Running on a standard PC, the algorithm generated a solution in less than five minutes for a set of five objects with a total of 456 triangular facets.
机译：提出了一种算法，该算法可自动生成给定的一组多面体对象的通用钳口设计和计划抓地力。该算法适用于配备了三个圆柱状手指的平行颚爪。普通的钳口设计消除了对定制夹具和工具更换的需求。所提出的下颌构造和计划方法将与定位手指接触点相关的搜索从六个自由度减少到一个自由度。开发了用于检查力闭合和预测卡纸的闭合形式算法。引入了三个质量度量来提高计划的掌握的质量。首先是衡量抓握对实际手指位置与计划手指位置之间的错误的敏感度。第二个指标是按接触力衡量抓握效率的方法。第三是衡量力闭合对摩擦的依赖性。这些质量指标不仅限于圆柱形手指，还可以应用于n个手指抓握。该算法在标准PC上运行，在不到五分钟的时间内为一组五个对象（总共456个三角形小平面）生成了一个解决方案。

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