Title :
Grasp planning for parallel grippers with flexibility on its grasping surface
Author :
Harada, Kensuke ; Tsuji, Tokuo ; Nagata, Kazuyuki ; Yamanobe, Natsuki ; Maruyama, Kenichi ; Nakamura, Akira ; Kawai, Yoshihiro
Author_Institution :
Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan
Abstract :
This paper proposes a method for planning a grasping posture for a parallel gripper attached at the tip of a robot manipulator. In order to robustly grasp several objects with various shapes, we consider a gripper having flexible sheets attached at the finger surface. We show that, by constructing a set of triangular mesh of the grasped object´s polygon model, we can plan the grasping posture taking the flexibility of the grasping surface into consideration. We also show that we can define several parameters used when planning the grasping posture for each set. The effectiveness of the proposed method is verified by numerical examples and experimental results.
Keywords :
grippers; manipulators; numerical analysis; path planning; finger surface; flexible sheets; grasping posture planning; grasping surface; object polygon model; parallel grippers; robot manipulator; triangular mesh; Clustering algorithms; Elasticity; Force; Grasping; Grippers; Planning; Vectors;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181508