The Geometric Reasoning Algorithm for Grasping Posture of Intelligent Robot
Zhou Hongjuan · Journal of Engineering Graphics · 2004
In this paper, a geometric reasoning algorithm for grasping planning of intelligent robot is introduced.Based on the geometric model of plane polyhedron of object,this algorithm can search out all possible collision-free grasping parameters(i.e vectors of position, approach and orientation and opening distance) by analysing the space relationship among the geometric items (i.e face, edge and vertex). According to the heuristic information of grasping stability and the center-of-gravity position of object,it can get the best grasping position and posture of manipulator.