Manipulability-Aware Task-Oriented Grasp Planning and Motion Control with Application in a Seven-DoF Redundant Dual-Arm Robot
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
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