Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm

Shuang-quan WEN; Tie-jun WU

doi:10.1631/jzus.C1100151

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Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm

计算机与自动化 | Updated：2022-12-09

- Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
- Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
- 信息与电子工程前沿（英文） 2012年13卷第3期页码：218-231
- Affiliations：
  
  Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  [ "Shuang-quan WEN, E-mail: sqwen@iipc.zju.edu.cn" ]
- Funds：
- DOI：10.1631/jzus.C1100151
  中图分类号： TP242
- 收稿：2011-06-08，
  
  修回：2012-;2-;8，
  
  纸质出版：2012-03
- Accepted：
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Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm[J]. 信息与电子工程前沿（英文）, 2012,13(3):218-231.

Shuang-quan WEN, Tie-jun WU. Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(3): 218-231.
Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm[J]. 信息与电子工程前沿（英文）, 2012,13(3):218-231. DOI： 10.1631/jzus.C1100151.

Shuang-quan WEN, Tie-jun WU. Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(3): 218-231. DOI： 10.1631/jzus.C1100151.

摘要

Abstract

Grasp evaluation and planning are two fundamental issues in robotic grasping and dexterous manipulation. Most traditional methods for grasp quality evaluation suffer from non-uniformity of the wrench space and a dependence on the scale and choice of the reference frame. To overcome these weaknesses

we present a grasp evaluation method based on disturbance force rejection under the assumption that the normal component of each individual contact force is less than one. The evaluation criterion is solved using an enhanced ray-shooting algorithm in which the geometry of the grasp wrench space is read by the support mapping. This evaluation procedure is very fast due to the efficiency of the ray-shooting algorithm without linearization of the friction cones. Based on a necessary condition for grasp quality improvement

a heuristic searching algorithm for polyhedral object regrasp is also proposed. It starts from an initial force-closure unit grasp configuration and iteratively improves the grasp quality to find the locally optimum contact points. The efficiency and effectiveness of the proposed algorithms are illustrated by a number of numerical examples.

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Keywords

references

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