Heuristic for Selection of Grasp Surfaces for Form-Closure on Polyhedral Objects

摘要

This paper proposes a novel heuristic for searching a set of surfaces eligible for providing form-closure grasp of robotic fingers on a rigid polyhedral 3-D object. The key idea that drives the search of eligible surfaces is the formal definition of a convex hull which describes convex hull of a set of points as the smallest convex polygon containing all the points of that set. Eligibility determination of a set of surfaces is carried out by the test based on ray-shooting algorithm (Liu IEEE Trans Robot Automat 15(1): 163-173, 1999, [1]), which is formalization of the necessary and sufficient condition for form-closure grasps requiring that the origin of the wrench space lies inside the convex hull of the primitive contact wrenches (Algorithm Spec Issue Robot 2(4):541-558, 1987, [2]). The implementation of three numerical examples demonstrates the usefulness and efficiency of the proposed heuristic.