Planning a grasp approach, position, and pre-grasp pose for a robotic grasper based on object, grasper, and environmental constraint data

摘要

A system including a memory having instructions causing a processor to perform operations, for planning a grasping-device approach to an object by a grasping device, a pre-grasp device position, and a pre-grasp device pose. The operations comprise obtaining input data including grasping-device data, object data, and environmental-constraint data, determining, based on the grasping-device data, a grasp volume model, determining a test approach vector, and determining, using the vector, the constraint data, and the model, whether approach vector modification is needed. The operations also include modifying, if modification is needed, the test approach, yielding a resulting approach vector, and determining, if modification is not needed, that the test approach is the resulting approach vector. And the operations include determining a virtual floor indicating a position below which the grasping device cannot move, and determining, based on the resulting vector, virtual floor, model, and object data, the device approach, position, and pose.

主权项

1. A system, comprising:
a processor; and a non-transitory computer-readable medium comprising instructions that, when executed by the processor, cause the processor to perform operations, for planning a grasping-device approach to an object by a grasping device, a pre-grasp device position, and a pre-grasp device pose, comprising:
obtaining input data including grasping-device data, object data, and environmental-constraint data;determining, based on at least the grasping-device data, a grasp volume model;determining a test approach vector;determining, using the test approach vector, the environmental-constraint data, and the grasp volume model, whether modification to the test approach vector is needed;modifying, if it is determined that the modification is needed, the test approach vector, yielding a resulting approach vector;determining, if it is determined that the modification is not needed, that the test approach vector is the resulting approach vector;determining virtual floor data indicating a position below which the grasping device cannot move; anddetermining, based on the resulting approach vector, the virtual floor data, the grasp volume model, and the object data, the grasping-device approach, the pre-grasp device position, and the pre-grasp device pose.