Operation planning system for robot

Details Operation planning system for robot Operation planning system for robot

1991-10-28

1994-06-28

MacDonald, Allen R.

B25J 1900

Patent

active

053254686

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 the 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.
"Automatic Grasping: A Case Study In Accessibility Analysis"; by Lavgier et al.; Elsevier Sci Pub. B.V.; 1984; pp. 201-214.

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