CLC number: TP242
On-line Access: 2012-03-01
Received: 2011-06-08
Revision Accepted: 2011-10-25
Crosschecked: 2012-02-08
Cited: 2
Clicked: 7555
Shuang-quan Wen, Tie-jun Wu. Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm[J]. Journal of Zhejiang University Science C, 2012, 13(3): 218-231.
@article{title="Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm",
author="Shuang-quan Wen, Tie-jun Wu",
journal="Journal of Zhejiang University Science C",
volume="13",
number="3",
pages="218-231",
year="2012",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.C1100151"
}
%0 Journal Article
%T Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
%A Shuang-quan Wen
%A Tie-jun Wu
%J Journal of Zhejiang University SCIENCE C
%V 13
%N 3
%P 218-231
%@ 1869-1951
%D 2012
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1100151
TY - JOUR
T1 - Grasp evaluation and contact points planning for polyhedral objects using a ray-shooting algorithm
A1 - Shuang-quan Wen
A1 - Tie-jun Wu
J0 - Journal of Zhejiang University Science C
VL - 13
IS - 3
SP - 218
EP - 231
%@ 1869-1951
Y1 - 2012
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.C1100151
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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