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The Optimal Grasp Planning by Using a 3-D Computer Vision Technique  

이현기 (경북대학교 대학원 기계공학과)
김성환 (경북대학교 대학원 기계공학과)
최상균 (경북대학교 기계공학부)
이상룡 (경북대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.19, no.11, 2002 , pp. 54-64 More about this Journal
Abstract
This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.
Keywords
Stereo Matching; Grasp Planning; Genetic Algorithm;
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Times Cited By KSCI : 1  (Citation Analysis)
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