Application of MAG index for optimal grasp planning

Author

Mesgari, Hamed ; Cheraghpour, Farzad ; Moosavian, S. Ali A

Author_Institution

Dept. of Mech. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

2171

Lastpage

2176

Abstract

Grasp planning is one of the interesting problems in robotic object manipulation. Besides, evaluation of grasp configuration has an important role in task execution. Therefore the Multi Aspect Grasp (MAG) performance index is defined for evaluating the grasp quality. In this paper, various methods including Particle Swarm Optimization, Genetic Algorithm, and MATLAB optimization toolbox are used to maximize the MAG index for a given task, in order to find the best grasping point. The results of using these methods are compared, in terms of their speed and accuracy, and it will be concluded that the PSO yield more accurate results.

Keywords

genetic algorithms; manipulators; particle swarm optimisation; MAG performance index; MATLAB optimization toolbox; genetic algorithm; multi aspect grasp; optimal grasp planning; particle swarm optimization; robotic object manipulation; Genetic algorithms; Grasping; Indexes; MATLAB; Manipulators; Optimization; Genetic Algorithm; MATLAB optimization toolbox; Optimization; Particle Swarm Optimization; grasp planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5986317

Filename

5986317