Multi-aspect grasp index for robotic arms

Abstract In this paper, a new Multi-Aspect Grasp (MAG) performance index is presented for evaluating grasp quality during an object manipulation task. The position of grasp points, the configuration of cooperative manipulators, and the kinetic aspects of manipulating arms and the grasped object are considered in the MAG index. The MAG index is used to evaluate the candidate points to choose the best grasp point and to select the most effective branch of the inverse kinematics solution, with respect to the given task. Simulation results, which are validated with analytical solutions, show the merits of the proposed index. According to these results, the MAG index indicates that in planar object manipulation tasks without rotation, the best grasp point is the object center of the mass, which is physically meaningful.

[1]  Jian S. Dai,et al.  Analysis of Force Distribution in Grasps Using Augmentation , 1996 .

[2]  Thanathorn Phoka,et al.  Regrasp planning of three-fingered hand for a polygonal object , 2010, 2010 IEEE International Conference on Robotics and Automation.

[3]  S. Ali A. Moosavian,et al.  Cooperative object manipulation with contact impact using multiple impedance control , 2010 .

[4]  Robert B. Fisher,et al.  Visual quality measures for Characterizing Planar robot grasps , 2005, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[5]  Máximo A. Roa,et al.  Regrasp planning in the grasp space using independent regions , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Peter K. Allen,et al.  Graspit! A versatile simulator for robotic grasping , 2004, IEEE Robotics & Automation Magazine.

[7]  Tsuneo Yoshikawa,et al.  Erratum to “Dynamic Manipulability of Robot Manipulators” , 2000 .

[8]  Zhixing Xue,et al.  Automatic optimal grasp planning based on found contact points , 2008, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[9]  Dan Ding,et al.  Computation of 3-D form-closure grasps , 2001, IEEE Trans. Robotics Autom..

[10]  Youlun Xiong,et al.  Stability index and contact configuration planning for multifingered grasp , 1998, J. Field Robotics.

[11]  M. H. Korayem,et al.  Maximum payload path planning for redundant manipulator using indirect solution of optimal control problem , 2009 .

[12]  Danica Kragic,et al.  A strategy for grasping unknown objects based on co-planarity and colour information , 2010, Robotics Auton. Syst..

[13]  S. Ali A. Moosavian,et al.  Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators , 2010, J. Intell. Robotic Syst..

[14]  Jun Wang,et al.  Synthesis of force-closure grasps on 3-D objects based on the Q distance , 2003, IEEE Trans. Robotics Autom..

[15]  Yasuyoshi Yokokohji,et al.  Dynamic Manipulability of Multifingered Grasping , 2009, IEEE Transactions on Robotics.

[16]  Ryo Kurazume,et al.  A new index of serial-link manipulator performance combining dynamic manipulability and manipulating force ellipsoids , 2006, IEEE Transactions on Robotics.

[17]  Matei T. Ciocarlie,et al.  Grasp analysis using deformable fingers , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  M. Roa,et al.  Finding locally optimum force-closure grasps , 2009 .

[19]  S. Ali A. Moosavian,et al.  Robotic grasp planning by multiple aspects grasp index for object manipulation tasks , 2010, 2010 18th Iranian Conference on Electrical Engineering.

[20]  Yu Sun,et al.  Observability index selection for robot calibration , 2008, 2008 IEEE International Conference on Robotics and Automation.

[21]  Evangelos Papadopoulos,et al.  A Framework for Large-Force Task Planning of Mobile and Redundant Manipulators , 1999 .

[22]  R. Saravanan,et al.  Evolutionary Minimum Cost Trajectory Planning for Industrial Robots , 2008, J. Intell. Robotic Syst..

[23]  S. Ali A. Moosavian,et al.  Multiple Aspect Grasp performance index for cooperative object manipulation tasks , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[24]  Alan Bowling,et al.  Velocity Effects on Robotic Manipulator Dynamic Performance , 2006 .

[25]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[26]  Xiangyang Zhu,et al.  Optimality Criteria for Fixture Layout Design: A Comparative Study , 2009, IEEE Transactions on Automation Science and Engineering.

[27]  Karim Abdel-Malek,et al.  Planning load-effective dynamic motions of highly articulated human model for generic tasks , 2009, Robotica.

[28]  Joel W. Burdick,et al.  Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps , 1994, IEEE Trans. Robotics Autom..

[29]  Bo Wahlberg,et al.  A method for grasp evaluation based on disturbance force rejection , 2006, IEEE Transactions on Robotics.

[30]  Mark R. Cutkosky,et al.  Force and Tactile Sensors , 2008, Springer Handbook of Robotics.

[31]  Stephen L. Chiu,et al.  Task Compatibility of Manipulator Postures , 1988, Int. J. Robotics Res..

[32]  Jorge Angeles,et al.  Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms , 1995 .

[33]  S. Ali A. Moosavian,et al.  Multiple-arm space free-flying robots for manipulating objects with force tracking restrictions , 2006, Robotics Auton. Syst..

[34]  Yujiang Xiang,et al.  Generating Effective Whole-Body Motions of a Human-like Mechanism with Efficient ZMP Formulation , 2009, Int. J. Robotics Autom..

[35]  Robert B. Fisher,et al.  Ranking planar grasp configurations for a three-finger hand , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[36]  Vincent Hayward,et al.  Calibration of a parallel robot using multiple kinematic closed loops , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[37]  Youlun Xiong,et al.  Algebraic Structure and Geometric Interpretation of Rigid Complex Fixture Systems , 2007, IEEE Transactions on Automation Science and Engineering.

[38]  Young C. Park,et al.  Grasp Synthesis of Polygonal Objects Using a Three-Fingered Robot Hand , 1992 .

[39]  Jing Xiao,et al.  Real-time tight coordination of mobile manipulators in unknown dynamic environments , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[40]  Karun B. Shimoga,et al.  Robot Grasp Synthesis Algorithms: A Survey , 1996, Int. J. Robotics Res..

[41]  Antonio Morales,et al.  Vision-based grasp planning of 3D objects by extending 2D contour based algorithms , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[42]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[43]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[44]  Il Hong Suh,et al.  Optimal grasping based on non-dimensionalized performance indices , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[45]  Ahmad A. Masoud,et al.  Kinodynamic Motion Planning , 2010, IEEE Robotics & Automation Magazine.

[46]  Bruno Siciliano,et al.  Comments on "Global task space manipulability ellipsoids for multiple-arm systems' and further considerations' (with reply) P. Chiacchio, et al , 1993, IEEE Trans. Robotics Autom..

[47]  Kazuhito Yokoi,et al.  Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping , 2008, IEEE Transactions on Robotics.

[48]  Danica Kragic,et al.  Minimum volume bounding box decomposition for shape approximation in robot grasping , 2008, 2008 IEEE International Conference on Robotics and Automation.

[49]  Michael Beetz,et al.  Grasp motion planning for box opening task by multi-fingered hands and arms , 2009, 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA).

[50]  Oussama Khatib,et al.  The dynamic capability equations: a new tool for analyzing robotic manipulator performance , 2005, IEEE Transactions on Robotics.

[51]  Raúl Suárez Feijóo,et al.  Grasp quality measures , 2006 .

[52]  Clément Gosselin,et al.  A Global Performance Index for the Kinematic Optimization of Robotic Manipulators , 1991 .

[53]  Reza Haghighi,et al.  DETERMINING MAXIMUM LOAD CARRYING CAPACITY OF FLEXIBLE LINK MANIPULATORS , 2009 .