Robot Grasp Planning Under Obstacles With Reduced Calculation Load
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Solution Overview
Problem
Conventional grasping control devices for manipulators face challenges in efficiently selecting the optimal grasping form and position for objects, particularly in the presence of obstacles, leading to increased calculation loads and potential interference.
Innovation Solution
A grasping control device that includes a selector to choose a grasping form based on object information, a determination unit to calculate the optimal usage form considering the grasping device and obstacle information, and a controller to control the grasping members to achieve the selected form, reducing calculation loads and minimizing interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional grasping control device calculates all possible grasping forms to ensure optimal grasping, then grasping reliability is improved, but calculation load increases
Solution Approach 1:
The patent segments the calculation process into two stages: first calculating only support points (grasping positions) without considering full grasping forms, then subsequently determining grasping forms. This segmentation reduces the initial calculation load while maintaining reliability by completing the full analysis when needed.
Solution Approach 2:
The patent performs preliminary calculation of support points before determining complete grasping forms. By calculating support points first as a preliminary step, the system reduces the scope of subsequent calculations, thereby lowering overall calculation load while ensuring reliable grasping selection.
2Reliability
If the grasping control device considers obstacle information to avoid interference, then grasping safety is improved, but calculation time increases
Solution Approach 1:
The patent separates obstacle consideration from the main grasping form calculation. Obstacle information is used to filter or guide the selection of support points and grasping forms in a segmented manner, reducing the time required to incorporate safety constraints into the overall calculation.
Solution Approach 2:
The patent performs preliminary assessment of obstacle positions and uses this information to pre-filter feasible grasping regions before detailed grasping form calculation. This preliminary action reduces the search space for subsequent calculations, decreasing calculation time while maintaining safety.
3Reliability
If the grasping control device selects optimal grasping forms considering multiple factors, then grasping quality is improved, but device complexity increases
Solution Approach 1:
The patent segments the grasping control into distinct modules: support point calculation, obstacle consideration, and grasping form determination. Each module handles specific factors independently, reducing overall control complexity while maintaining high grasping quality through coordinated operation of segments.
Solution Approach 2:
The patent performs preliminary calculation of support points and evaluation of obstacle constraints before selecting optimal grasping forms. This preliminary action simplifies the final selection process by pre-processing multiple factors, thereby reducing control complexity while improving grasping quality.
Data Source
AI summary
According to an embodiment, a grasping control device controls a grasping device including grasping members to grasp an object. The grasping control device includes a selector, a first determination unit and a controller. The selector selects at least one grasping form for the object based on first information relating to the object, from among a plurality of grasping forms determined by a number and an arrangement of the grasping members. The first determination unit determines a usage form realizing the selected grasping form, from among a plurality of usage forms determined by at least one of second information relating to the grasping device and third information relating to an obstacle. The controller controls the grasping device such that at least one of grasping members grasps the object according to the determined usage form.