AUTO-GENERATION OF PATH CONSTRAINTS FOR GRASP STABILITY

AUTO-GENERATION OF PATH CONSTRAINTS FOR GRASP STABILITY

In some cases, grasp point algorithms can be implemented so as to compute grasp points on an object that enable a stable grasp. It is recognized herein, however, that in practice a robot in motion can drop the object or otherwise have grasp issues when the object is grasped at the computed stable gr...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: XIA, Wei Xi, UGALDE DIAZ, Ines, SATHYA NARAYANAN, Gokul Narayanan, SOLOWJOW, Eugen, APARICIO OJEA, Juan L, TAMASKAR, Shashank, SHAHAPURKAR, Yash, WEN, Chengtao, CLAUSSEN, Heiko
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Zusammenfassung:In some cases, grasp point algorithms can be implemented so as to compute grasp points on an object that enable a stable grasp. It is recognized herein, however, that in practice a robot in motion can drop the object or otherwise have grasp issues when the object is grasped at the computed stable grasp points. Path constraints that can differ based on a given object are generated while generating the trajectory for a robot, so as to ensure that a grasp remains stable throughout the motion of the robot.