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Project:

Methods and algorithms for object grasping in robotics: dexterous manipulation and industrial applications

( MAP )




TITLE: Methods and algorithms for object grasping in robotics: dexterous manipulation and industrial applications

REFERENCE: CICYT DPI2004-03104

PERIOD: 2004-2007

PROJECT LEADER: Raúl Suárez Feijóo

E-mail:  raul.suarez@upc.edu
Phone: +34-934016548/6654

CENTER: Institut de Organització i Control de Sistemes Industrials (IOC)
                         Universitat Politècnica de Catalunya (UPC)

KEYWORDS: robotics, grasping, manipulation, dexterous mechanical hands, versatile grippers, teleoperation




Grasping and object manipulation are fundamental tasks in the use of robots in industrial processes as well as in robotized applications in non-structures environments. The way in which a grasp is performed is constrained by the type of object to be grasped, the type of gripper and the purpose of the grasp (action to be done with or on the grasped object), and it may strongly condition the robot performance and the successful execution of the task. The use of more and more versatile grippers has the intention of widening the field of robot applications as well as the efficiency of the robots, but, in contrast, the kinematics and control complexity of more versatile grippers and the constraints on the grasping action make it necessary the use of systems that automatically solve the different problems associated with a grasping operation.

In this context, the objective of the project is the development of methods and algorithms that allow the automatic determination of the correct grasp of an object in robotic applications according to the purpose of the grasp. In particular, it can be emphasized: the search of general analytical solutions and heuristics that simplify the problem when the constraints are known, consideration of gripper kinematics in the grasp determination, determination of grasping strategies for free-shape objects represented by polygonal meshes, and consideration of geometric uncertainty in the object and gripper. The project also includes the experimental test of the theoretic developments using the mechanical hand MA-I designed and built at the IOC, and installed on an industrial robot.



Mechanical Hand MA-I (PDF Poster)

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