A Reusable Robotic Grasping Creator

摘要

To make robotic grasping accessible to all roboticists, Energid Technologies is developing a Graphical User Interface (GUI) tool and algorithms embodied in a reusable software toolkit to quickly and easily create grasps. The method is generic and works with all types of robotic hands, manipulators, and mobile platforms. Vision, position control, force control, and collision avoidance algorithms are integrated naturally into the process, and successful grasp parameters are stored in a database for later real-time application. This article describes how the grasps are created in the Energid system using convenient human interfaces, novel ways to constrain the robotic hand, and real-time simulation of the grasping process. Special emphasis is given to the integration of force control with the grasp scripting process. The force control system accommodates a variety of established algorithms and allows new user-defined algorithms, which can apply to many types of force/torque sensors. Special emphasis is also given to vision-based tracking, with the vision system providing object identification and automatic selection of an appropriate grasp from the database. The vision system also provides 3D tracking to guide the grasp process. Simulation and hardware study results are presented based on the Schunk SDH hand and LWA arm.