Grasp stability evaluation based on energy tolerance in potential field

Tsuji, Tokuo; Baba, Kosei; Tahara, Kenji; Harada, Kensuke; Morooka, Ken’ichi; Kurazume, Ryo

doi:10.1109/iros.2015.7353688

Cited by 2 publications

(1 citation statement)

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“…In this paper, we propose an assembly planner which can find an optimal assembly sequence without teaching of the assembly orders and directions by skilled human technicians. The planner considers a mixed constraint model which includes statics with constraints of the assembled part (stability; Gupta et al, 2010;Jia et al, 2013), quasistatic constraints between grippers and manipulated objects, geometric constraints between grippers and surrounding objects (graspability; Tsuji et al, 2015;Berenson et al, 2007) and geometric constraints between the manipulated object and the finished part (assemblability). It evaluates the qualities of stability, graspability and assemblability to find an optimal sequence for translational assembly.…”

Section: Related Workmentioning

confidence: 99%

Assembly sequence planning for motion planning

Wan

Harada

Nagata

2017

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Abstract-This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the assembly. The output is an optimal assembly sequence, namely (1) in which order should one assemble the objects, (2) from which directions should the objects be dropped, and (3) candidate grasps of each object. The proposed planner finds the optimal solution by automatically permuting, evaluating, and searching the possible assembly sequences considering stability, graspability, and assemblability qualities. It is expected to guide robots to do assembly using translational motion. The output provides initial and goal configurations to motion planning algorithms. It is ready to be used by robots and is demonstrated using several simulations and real-world executions.

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