苏建华, 刘传凯, 王智伟, 黄开启. 面向3维物体的三指机械手“包笼抓取”方法[J]. 机器人, 2021, 43(2): 129-139. DOI: 10.13973/j.cnki.robot.200204
引用本文: 苏建华, 刘传凯, 王智伟, 黄开启. 面向3维物体的三指机械手“包笼抓取”方法[J]. 机器人, 2021, 43(2): 129-139. DOI: 10.13973/j.cnki.robot.200204
SU Jianhua, LIU Chuankai, WANG Zhiwei, HUANG Kaiqi. Caging Grasp of 3D Objects with a Three-finger Gripper[J]. ROBOT, 2021, 43(2): 129-139. DOI: 10.13973/j.cnki.robot.200204
Citation: SU Jianhua, LIU Chuankai, WANG Zhiwei, HUANG Kaiqi. Caging Grasp of 3D Objects with a Three-finger Gripper[J]. ROBOT, 2021, 43(2): 129-139. DOI: 10.13973/j.cnki.robot.200204

面向3维物体的三指机械手“包笼抓取”方法

Caging Grasp of 3D Objects with a Three-finger Gripper

  • 摘要: 研究了面向3维多面体和类多面体的三指机械手包笼抓取策略.为了减小计算量,将高维包笼抓取构形的搜索问题转换成低维空间中包笼抓取集合的搜索问题,提出了利用机械手手指在构形空间中形成的约束域搜索包笼抓取构形的方法.这种方法搜索到的包笼抓取构形能够收敛到不完全形封闭抓取构形.最后,通过Barrett手的抓取实验验证了算法的有效性.

     

    Abstract: The caging grasps of 3D polyhedron and polyhedron-like objects with a three-finger gripper are studied. For the detection problem of grasp configuration, the high-dimensional cage is converted into several lower-dimensional cage sets, to reduce the computation cost. A detection method of the caging grasp configuration is proposed based on the constraint region formed by the gripper fingers in the configuration space. The caging grasp configurations detected by the proposed method can converge to a partial form-closure grasp configuration. Finally, the effectiveness of the proposed method is demonstrated by experiments on a Barrett hand.

     

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