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Polygonal-target multi-finger grab planning method and apparatus

A polygon and object technology, applied in the field of multi-finger grasping planning method and device for polygon objects

Inactive Publication Date: 2006-11-22
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the problem of frictionless grasping of planar objects, usually only four fingers are properly arranged to achieve the shape closure requirement

Method used

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  • Polygonal-target multi-finger grab planning method and apparatus
  • Polygonal-target multi-finger grab planning method and apparatus
  • Polygonal-target multi-finger grab planning method and apparatus

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Experimental program
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Effect test

Embodiment Construction

[0068] A preferred embodiment of the present invention is:

[0069] see figure 1 , the device of the multi-finger grasping planning method for polygonal objects, including a control and driver 3 to control and drive a multi-finger dexterous hand 4, an image acquisition and an output of the processor 1 connected to an input of a grasping planner 2, grasping Take the output of planner 2 and connect the input of control and driver 3.

[0070] see figure 1 , the multi-finger grasping planning method for polygonal objects is as follows: the image acquisition and processor 1 uses a digital camera to acquire the image of the target, and converts it into a three-dimensional solid graphic that is convenient for computer representation, and finally outputs the polygon on the grasping plane. The grasping planner generates a grasping scheme according to the polygon and the specific geometric dimensions of the multi-fingered dexterous hand sent by the image acquisition and processor 1, a...

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Abstract

The invention relates to a multi-finger grasping planning method and device for a robot dexterous hand. The steps of this grasping plan are: the image acquisition and processor acquires the image of the target with a digital camera, and converts it into a three-dimensional solid graphic that is convenient for computer representation, and the final output is the polygon on the grasping plane. Then the grasping planner determines all feasible grasping schemes of the four-finger gripper for the workpiece, and determines the best grasping scheme and outputs it to the control and driver to control and drive the multi-finger gripper to realize the grasping work. Its device is composed of image acquisition and processor, grasping planner, control and driver, and multi-finger dexterous hand. The multi-finger grasping planning of the present invention can enable the humanoid robot to have dexterous operation on objects of various shapes and precise force control and motion control capabilities, and realize human-like behavior.

Description

technical field [0001] The invention relates to a multi-finger grasping planning method and device, in particular to a multi-finger grasping planning method and device for polygonal objects. Background technique [0002] In the study of intelligent robots, people regard anthropomorphic robots as the highest state of robot research, and have always regarded the realization of humanoid behavior as a dream goal. The multi-fingered dexterous hand, which has fine manipulation ability and imitates human hand in structure and function, is the most complex and critical research content in the field of robotics research. At present, multi-fingered dexterous hands have been successfully developed around the world, with position and force perception capabilities, and can realize dexterous grasping and manipulation. [0003] However, the control and manipulation of the finger movement of the robot's multi-fingered dexterous hand is still in the stage of human-computer interaction. Usua...

Claims

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Application Information

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IPC IPC(8): B25J13/08B25J15/10
Inventor 吴玉光
Owner SHANGHAI UNIV
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