期刊
ALEXANDRIA ENGINEERING JOURNAL
卷 61, 期 5, 页码 3959-3969出版社
ELSEVIER
DOI: 10.1016/j.aej.2021.09.017
关键词
Force closed; Humanoid manipulator; Grasping posture; Target form analysis; CPC algorithm
资金
- National Natural Science Foundation of China [52075530, 51575407, 51505349, 61733011, 41906177]
- Hubei Provincial Department of Education [D20191105]
- National Defense Pre-Research Foundation of Wuhan University of Science and Technology [GF201705]
- Open Fund of the Key Laboratory for Metallurgical Equip-ment and Control of Ministry of Education in Wuhan Univer-sity of Science and Technology [2018B07, 2019B13]
- Open Fund of Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance in Three Gorges University [2020KJX02]
This paper proposes a method for determining the grasping posture of manipulator based on shape analysis and force closure, which simplifies the grasping of irregular or complex objects into basic shapes for planning. The best grasping posture is obtained by evaluating indicators, achieving rapid determination of grasping system and defining grasping quality.
With the diversity of manipulator grasping methods and the complexity of the unstructured environment, the grasping planning of the target object is very complicated. However, the external factor for the manipulator grasping is primarily the external shape of the target object. Therefore, it is of great significance to establish a grasping system based on target shape analysis. This paper proposes a method for determining the grasping posture of manipulator based on shape analysis and force closure. The irregular or complex objects are reduced to a combination of some basic shapes. The 3D data points of the object are split into blocks and each part is fitted to sphere, cylinder or rectangle by a best-fit algorithm. This allows the grasping posture of the manipulator to be determined quickly. The grasping characteristics of the object are analyzed and the grasping surface is described qualitatively by means of a superellipse. The grasping of objects is simplified according to the stable grasping condition of force closure. The force spiral space for grasping defines the grasping quality of the manipulator. The best grasping posture is obtained by evaluating the indicators. This method eliminates complex training processes, reduces the complexity of robotic grasping and highly universal. (C) 2021 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria University.
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