Grasping Control Method for Multi-Object Interference Avoidance
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Solution Overview
Problem
Conventional methods for determining the order of grasping multiple randomly placed graspable members by a manipulator often result in interference due to positioning deviations, as they rely on gravity center positions or manipulability measures, failing to prioritize graspable members with clear surroundings.
Innovation Solution
An object grasping control method that recognizes the shape, position, and attitude of each graspable member to set a non-interference attitude range, allowing the grasping unit to prioritize members with a greater graspable attitude range, thereby avoiding interference and ensuring stable grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the grasping unit grasps graspable members based on gravity center positions or manipulability measures, then the grasping order can be autonomously determined, but the grasping unit may interfere with other graspable members due to positioning deviations
Solution Approach 1:
The patent changes the parameter for determining grasping order from gravity center position or manipulability measure to the size of the non-interference attitude range. This parameter change allows the system to autonomously determine grasping order while prioritizing members that can be grasped without interfering with others, even when positioning deviations occur.
Solution Approach 2:
The patent performs preliminary calculation of the non-interference attitude range for each graspable member before determining the grasping order. By预先 (in advance) identifying which members can be grasped without causing interference, the system ensures reliable grasping while maintaining autonomous operation.
2Reliability
If the grasping unit prioritizes graspable members with clear surroundings, then interference with other members can be prevented, but the determination of grasping order becomes more complex
Solution Approach 1:
The patent enables each graspable member to 'evaluate itself' by calculating its own non-interference attitude range based on its position and attitude relative to other members. This self-service approach simplifies the overall determination process while ensuring reliable interference prevention, as each member's grasping feasibility is independently assessed.
Solution Approach 2:
The patent simplifies the complexity by changing the evaluation parameter to a single metric: the size of the non-interference attitude range. This unified parameter allows for straightforward comparison among multiple graspable members while comprehensively considering their spatial relationships and potential interference.
Data Source
AI summary
An object grasping control method, in which an object grasping control apparatus grasps a plurality of graspable members using a grasping unit, includes recognizing at least one of a shape, position, and attitude of each of the plurality of graspable members, setting, based on at least of one of the shape, position, and attitude of each of the plurality of graspable members, an attitude range as a graspable attitude range in which each of the plurality of graspable members and the grasping unit do not interfere with each other for each of the plurality of graspable members, and setting, as a grasping target to be grasped by the grasping unit, a graspable member, among the plurality of graspable members, the set graspable attitude range of which is greater than a predetermined threshold value.