Vision-Based Caging Grasps of Polyhedron-Like Workpieces With a Binary Industrial Gripper
Su, Jianhua1; Qiao, Hong1; Ou, Zhicai2; Liu, Zhi-Yong1
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2015-07-01
Volume12Issue:3Pages:1033-1046
SubtypeArticle
AbstractDevelopment of a flexible low-cost robotic system to grasp various 3D workpieces is of practical important. Traditional approaches on 3D grasping usually need to compute the effective contact positions based on sufficient conditions, such as "force-closure" or "form-closure," to prevent all the motions of the grasped objects. Compared with the previous work motivated by high-precision applications, caging provides a way to manipulate an object without needing to immobilize it. However, most caging conditions consider only 2D motions of the object in grasping. In some cases, other motions in 3D space, e.g., the pitch and roll rotations of the objects, would also possibly change a caging configuration to an uncaging configuration. This paper aims to discuss caging with frictionless contact, by taking into consideration of all the motions of the object. We first discuss the relationship between the gripper configuration and the state of the grasped object in grasping, where all the motions of the object are taken into account. We then establish the sufficient conditions to find a set of 3D caging configurations in terms of the width of the object's projection and the gap of the gripper, such that we can utilize the projection to find the feasible placements of the pins to determine the caging configuration. Furthermore, we discuss how to find the caging configuration that is capable of leading to a form-closure based on attractive region formed in the configuration space.
KeywordAttractive Region Caging Configuration Industry Gripper
WOS HeadingsScience & Technology ; Technology
WOS KeywordOBJECTS ; 3D
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000358585200022
Citation statistics
Cited Times:12[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8888
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorSu, Jianhua
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Refrigerat Res Inst, Residential Air Conditioner Div Midea Grp, Foshan 528311, Guangdong, Peoples R China
Recommended Citation
GB/T 7714
Su, Jianhua,Qiao, Hong,Ou, Zhicai,et al. Vision-Based Caging Grasps of Polyhedron-Like Workpieces With a Binary Industrial Gripper[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2015,12(3):1033-1046.
APA Su, Jianhua,Qiao, Hong,Ou, Zhicai,&Liu, Zhi-Yong.(2015).Vision-Based Caging Grasps of Polyhedron-Like Workpieces With a Binary Industrial Gripper.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12(3),1033-1046.
MLA Su, Jianhua,et al."Vision-Based Caging Grasps of Polyhedron-Like Workpieces With a Binary Industrial Gripper".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 12.3(2015):1033-1046.
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