Operation planning system for robot

Details Operation planning system for robot Operation planning system for robot

1994-01-13

1996-04-30

Downs, Robert W.

395 97, G05B 1904, G05B 1500, G05B 1918

Patent

active

055132995

ABSTRACT:
Pick-and-place grasp candidates for positions at which an object can be picked and placed on a table are calculated based on the initial and goal states of the object, the surrounding environment state at the initial and goal states and the geometrical data of a robot hand. A space characterization is prepared which represents various states relating to the object around the grasp position in each of the calculated pick-and-place grasp candidates. The magnitude of the space in which the hand can be moved is estimated from the prepared space characterizations. Based on the results, position and orientation for pick-and-place grasp is selected from the pick-and-place grasp candidates. If the object cannot be moved from its initial state to its goal state through one grasp and movement action, the object is once returned onto the table and regrasped by the robot hand. Regrasp orientation of the object is selected from stable orientations which depend on the geometric data of objects to be handled. In such a manner, a robot operation plan can be prepared automatically.

REFERENCES:
patent: 4967125 (1990-10-01), Hara
patent: 5157315 (1992-10-01), Miyake et al.
Tanimoto, The Elements of Aritificial Intelligence, Computer Science Press, 1987, 160-168.
Rao et al., "Robot Hand--Eye Coordination-Shape Description and Grasping," 1988 IEEE Int'l. Conf. Robotics and Automation, Apr. 1988, 407-411.
Mehdian et al., "A Sensory Gripper Using Tactile Sensors for object Recognition, Orientation Control, and Stable Manipulation," IEEE Trans. on Syst., Man, and Cybernetics, Sep./Oct. 1989, 1250-1261.
Lavgier et al., "Automatic Grasping: A Case Study In Accessibility Analysis," Elsevier Sci. Pub., 1984, 201-214.

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