Vision-Based Caging Grasps of Polyhedron-Like Workpieces With a Binary Industrial Gripper
Su, Jianhua1; Qiao, Hong1; Ou, Zhicai2; Liu, Zhi-Yong1
2015-07-01
发表期刊IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷号12期号:3页码:1033-1046
文章类型Article
摘要Development 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.
关键词Attractive Region Caging Configuration Industry Gripper
WOS标题词Science & Technology ; Technology
关键词[WOS]OBJECTS ; 3D
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000358585200022
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8888
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Su, Jianhua
作者单位1.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
推荐引用方式
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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