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Front. Inform. Technol. Electron. Eng.  2012, Vol. 13 Issue (3): 218-231    DOI: 10.1631/jzus.C1100151
    
Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
Shuang-quan Wen, Tie-jun Wu
Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
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Abstract  Grasp evaluation and planning are two fundamental issues in robotic grasping and dexterous manipulation. Most traditional methods for grasp quality evaluation suffer from non-uniformity of the wrench space and a dependence on the scale and choice of the reference frame. To overcome these weaknesses, we present a grasp evaluation method based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. The evaluation criterion is solved using an enhanced ray-shooting algorithm in which the geometry of the grasp wrench space is read by the support mapping. This evaluation procedure is very fast due to the efficiency of the ray-shooting algorithm without linearization of the friction cones. Based on a necessary condition for grasp quality improvement, a heuristic searching algorithm for polyhedral object regrasp is also proposed. It starts from an initial force-closure unit grasp configuration and iteratively improves the grasp quality to find the locally optimum contact points. The efficiency and effectiveness of the proposed algorithms are illustrated by a number of numerical examples.

Key wordsForce closure      Grasp quality evaluation      Multifingered grasp      Grasping planning      Ray-shooting     
Received: 08 June 2011      Published: 01 March 2012
CLC:  TP242  
Cite this article:

Shuang-quan Wen, Tie-jun Wu. Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm. Front. Inform. Technol. Electron. Eng., 2012, 13(3): 218-231.

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http://www.zjujournals.com/xueshu/fitee/10.1631/jzus.C1100151     OR     http://www.zjujournals.com/xueshu/fitee/Y2012/V13/I3/218


Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm

Grasp evaluation and planning are two fundamental issues in robotic grasping and dexterous manipulation. Most traditional methods for grasp quality evaluation suffer from non-uniformity of the wrench space and a dependence on the scale and choice of the reference frame. To overcome these weaknesses, we present a grasp evaluation method based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. The evaluation criterion is solved using an enhanced ray-shooting algorithm in which the geometry of the grasp wrench space is read by the support mapping. This evaluation procedure is very fast due to the efficiency of the ray-shooting algorithm without linearization of the friction cones. Based on a necessary condition for grasp quality improvement, a heuristic searching algorithm for polyhedral object regrasp is also proposed. It starts from an initial force-closure unit grasp configuration and iteratively improves the grasp quality to find the locally optimum contact points. The efficiency and effectiveness of the proposed algorithms are illustrated by a number of numerical examples.

关键词: Force closure,  Grasp quality evaluation,  Multifingered grasp,  Grasping planning,  Ray-shooting 
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