Fast grasp contact computation for a serial robot

摘要

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

主权项

1. A system comprising:
a serial robot having a pair of links that are interconnected by a joint, wherein the serial robot is configured to grasp a three-dimensional (3D) object in response to a commanded grasp pose; and a controller in electrical communication with the serial robot, wherein the controller is configured to:
receive a set of input information, including the commanded grasp pose, a first set of information describing the kinematics of the serial robot, and a second set of information describing the position in 3D space of the object to be grasped by the serial robot;calculate, in a plurality of parallel two-dimensional (2D) curl planes of the links of the serial robot using the received set of input information, a set of contact points of the serial robot with a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose;calculate a required joint angle, in each of the parallel 2D curl planes between the pair of links using the set of contact points; andexecute a control action with respect to the motion of the serial robot using the required joint angle to thereby establish the commanded grasp pose, including selecting and commanding an optimal set of the joint angles using a calibrated criteria.