Grasp Motion Planning with Redundant DOF of Grasping Pose

Kazuyuki Nagase; Yasumichi Aiyama

doi:10.20965/jrm.2013.p0538

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JRM Vol.25 No.3 pp. 538-544

doi: 10.20965/jrm.2013.p0538

(2013)

Paper:

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Grasp Motion Planning with Redundant DOF of Grasping Pose

Kazuyuki Nagase and Yasumichi Aiyama

Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:

October 19, 2012

Accepted:

April 22, 2013

Published:

June 20, 2013

Keywords:

manipulation, motion planning, collision avoidance, redundancy, impedance control

Abstract

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.

Cite this article as:

K. Nagase and Y. Aiyama, “Grasp Motion Planning with Redundant DOF of Grasping Pose,” J. Robot. Mechatron., Vol.25 No.3, pp. 538-544, 2013.

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References

[1] A. Takenouchi, N. Kanamaru, and M. Mizukawa, “Combination of Object Detection and Path Planning Using the Environment Information for Bin-picking,” J. RSJ, Vol.17, No.7 , pp. 1044-1041, 1999.
[2] K. Nagase, Y. Aiyama, and S. Kimura, “The approach for a target by impedance control using virtual reaction force from sight,” Proc. 2011 JSME Conf. on Robotics and Mechatronics (ROBOMEC 2011), 1A1-H10, 2011.
[3] Y. Funahashi and T. Yamada, “Estimation of Post ion and Orientation of an Object Grasped by a Parallel-Jaw Gripper,” J. JSME (Series C), Vol.60, No.580, pp. 4161-4167, 1994.
[4] N. Vahrenkamp, M. Do, T. Asfour, and R. Dillmann, “Integrated Grasp and Motion Planning,” Proc. 2010 IEEE Int. Conf. on Robotics and Automation (ICRA 2010), pp. 2883-2888, 2010.
[5] H. Ding and S. P. Chan, “A Real-Time Planning Algorithm for Obstacle Avoidance of Redundant Robots,” J. Intelligent and Robotic Systems, Vol.16, pp. 229-243, 1996.
[6] S.-J. Le and H. Yamakawa, “Study on Minimum Energy Collision-Free Trajectory Planning for Rigid Manipulators,” Int. J. JSME, Vol.41, No.1, pp. 101-107, 1998.
[7] H. Qiu, H. Ozaki, C.-J. Lin, and Z.-Y. Li, “An Approach to Collision-Free Trajectory Planning for Manipulators,” J. JSME (Series C), Vol.68, No.666, pp. 501-508, 2002.
[8] I. Nagata, M. Hamaguchi, and T. Taniguchi, “Obstacle Avoidance for 7-DOF Manipulator Utilizing Kinematic Redundancy (An Approach to Joint Rate Vector Using Immune Algorithm),” Proc. 2007 JSME Symp. Chugoku and Shikoku Section, 2007.
[9] S. M. Khansari-Zadeh and A. Billard, “A Dynamical System Approach to Realtime Obstacle Avoidance,” Autonomous Robots, 2012.
[10] H. Terasaki, T. Hasegawa, and H. Takahashi, “Automatic Grasping and Regrasping for Pick-and-Place Operation on Polyhedra by Two-Fingered Gripper,” J. RSJ, Vol.10, No.2, pp. 273-282, 1992.
[11] N. Yamanobe and K. Nagata, “Modeling of Grasping Objects for Pickup Operation by Parallel Two-Fingered Gripper,” Proc. 2008 JSME Conf. on Robotics and Mechatronics (ROBOMEC 2008), 1P1-A19, 2008.
[12] O. Kanoun, F. Lamiraux, and P.-B. Wieber, “Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task,” IEEE Trans. Robotics, Vol.27, No.4, pp. 785-792, 2011.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] A. Takenouchi, N. Kanamaru, and M. Mizukawa, “Combination of Object Detection and Path Planning Using the Environment Information for Bin-picking,” J. RSJ, Vol.17, No.7 , pp. 1044-1041, 1999.

[2] [2] K. Nagase, Y. Aiyama, and S. Kimura, “The approach for a target by impedance control using virtual reaction force from sight,” Proc. 2011 JSME Conf. on Robotics and Mechatronics (ROBOMEC 2011), 1A1-H10, 2011.

[3] [3] Y. Funahashi and T. Yamada, “Estimation of Post ion and Orientation of an Object Grasped by a Parallel-Jaw Gripper,” J. JSME (Series C), Vol.60, No.580, pp. 4161-4167, 1994.

[4] [4] N. Vahrenkamp, M. Do, T. Asfour, and R. Dillmann, “Integrated Grasp and Motion Planning,” Proc. 2010 IEEE Int. Conf. on Robotics and Automation (ICRA 2010), pp. 2883-2888, 2010.

[5] [5] H. Ding and S. P. Chan, “A Real-Time Planning Algorithm for Obstacle Avoidance of Redundant Robots,” J. Intelligent and Robotic Systems, Vol.16, pp. 229-243, 1996.

[6] [6] S.-J. Le and H. Yamakawa, “Study on Minimum Energy Collision-Free Trajectory Planning for Rigid Manipulators,” Int. J. JSME, Vol.41, No.1, pp. 101-107, 1998.

[7] [7] H. Qiu, H. Ozaki, C.-J. Lin, and Z.-Y. Li, “An Approach to Collision-Free Trajectory Planning for Manipulators,” J. JSME (Series C), Vol.68, No.666, pp. 501-508, 2002.

[8] [8] I. Nagata, M. Hamaguchi, and T. Taniguchi, “Obstacle Avoidance for 7-DOF Manipulator Utilizing Kinematic Redundancy (An Approach to Joint Rate Vector Using Immune Algorithm),” Proc. 2007 JSME Symp. Chugoku and Shikoku Section, 2007.

[9] [9] S. M. Khansari-Zadeh and A. Billard, “A Dynamical System Approach to Realtime Obstacle Avoidance,” Autonomous Robots, 2012.

[10] [10] H. Terasaki, T. Hasegawa, and H. Takahashi, “Automatic Grasping and Regrasping for Pick-and-Place Operation on Polyhedra by Two-Fingered Gripper,” J. RSJ, Vol.10, No.2, pp. 273-282, 1992.

[11] [11] N. Yamanobe and K. Nagata, “Modeling of Grasping Objects for Pickup Operation by Parallel Two-Fingered Gripper,” Proc. 2008 JSME Conf. on Robotics and Mechatronics (ROBOMEC 2008), 1P1-A19, 2008.

[12] [12] O. Kanoun, F. Lamiraux, and P.-B. Wieber, “Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task,” IEEE Trans. Robotics, Vol.27, No.4, pp. 785-792, 2011.