A MAN-MACHINE APPROACH FOR ROBOT GRASP PLANNING
Grasping is a key operation in manipulator programs since it affects all subsequent motions. The role of grasping in programming, however, is not limited only to defining the grip points, but should extend to include path planning to reach and leave these points from suitable approach and departure positions. The selection process is complicated and requires manipulation of many geometrical and functional constraints. In this paper we introduce an interactive system for grasp analysis. The main strategy in our design is to build a grasp analyzer that is based on man-machine interaction. In such system a CAD based geometric analyzer develops a list of candidate grips. The user can then override or change these grips according to functional constraints. User's modifications are still monitored by the system to avoid geometrical and interference violations. New concepts regarding functional constraints and geometrical were introduced. The system was implemented using a boundary representation solid modelers and it can be interfaced with a Graphical and/or Language Programming modules.
COMPUTERS & INDUSTRIAL ENGINEERING
Ali, A. L.,
(1990). A MAN-MACHINE APPROACH FOR ROBOT GRASP PLANNING. COMPUTERS & INDUSTRIAL ENGINEERING, 19(41278), 489-494.
Available at: http://aquila.usm.edu/fac_pubs/7514