Author :
Van Bruggen, Marnix ; Baartman, Jan Peter ; Bronsvoort, Willem F.
Author_Institution :
Delft Univ. of Technol., Netherlands
Abstract :
A grip planning module is presented. An algorithm for calculating regions on a part that cannot be gripped is described. Non-free regions exist because of finger size, contact with feeder and assembly, and forbidden surfaces on the part. A problem reduction method is presented that reduces the 3-D grasp planning problem to a number of 2 1/2-D subproblems based on the mechanical properties of industrial grippers. Adapted versions of known 2-D grasp planning algorithms can be used for grasp planning in the subproblems, of which two examples are given. The grip planning module is implemented, and results are presented
Keywords :
assembling; flexible manufacturing systems; industrial manipulators; planning (artificial intelligence); 2 1/2-D subproblems; 2-D grasp planning algorithms; 3-D grasp planning problem; grip planning module; industrial grippers; mechanical properties; problem reduction method; Assembly systems; Fingers; Fixtures; Grippers; Informatics; Marine technology; Mathematics; Process planning; Production; Thyristors;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291932
