Manipulability-Aware Task-Oriented Grasp Planning and Motion Control with Application in a Seven-DoF Redundant Dual-Arm Robot | |
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學年 | 113 |
學期 | 1 |
出版(發表)日期 | 2024-12-20 |
作品名稱 | Manipulability-Aware Task-Oriented Grasp Planning and Motion Control with Application in a Seven-DoF Redundant Dual-Arm Robot |
作品名稱(其他語言) | |
著者 | Wong, Ching-chang; Tsai, Chi-yi; Lai, Yu-cheng; Wong, Shang-wen |
單位 | |
出版者 | |
著錄名稱、卷期、頁數 | Electronics 13(24), 5025 |
摘要 | Task-oriented grasp planning poses complex challenges in modern robotics, requiring the precise determination of the grasping pose of a robotic arm to grasp objects with a high level of manipulability while avoiding hardware constraints, such as joint limits, joint over-speeds, and singularities. This paper introduces a novel manipulability-aware (M-aware) grasp planning and motion control system for seven-degree-of-freedom (7-DoF) redundant dual-arm robots to achieve task-oriented grasping with optimal manipulability. The proposed system consists of two subsystems: (1) M-aware grasp planning; and (2) M-aware motion control. The former predicts task-oriented grasp candidates from an RGB-D image and selects the best grasping pose among the candidates. The latter enables the robot to select an appropriate arm to perform the grasping task while maintaining a high level of manipulability. To achieve this goal, we propose a new manipulability evaluation function to evaluate the manipulability score (M-score) of a given robot arm configuration with respect to a desired grasping pose to ensure safe grasping actions and avoid its joint limits and singularities. Experimental results demonstrate that our system can autonomously detect the graspable areas of a target object, select an appropriate grasping pose, grasp the target with a high level of manipulability, and achieve an average success rate of about 98.6%. |
關鍵字 | redundant dual-arm robots;manipulability awareness;task-oriented grasp planning;grasp motion control;joint limits and singularity avoidance |
語言 | en_US |
ISSN | 2079-9292 |
期刊性質 | 國外 |
收錄於 | SCI EI |
產學合作 | |
通訊作者 | |
審稿制度 | 是 |
國別 | USA |
公開徵稿 | |
出版型式 | ,電子版 |
相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/126939 ) |
SDGS | 優質教育,產業創新與基礎設施,夥伴關係 |