Fast grasp contact computation for a serial robot

US9067319B2 · kind B2 · utility

Assignees

• GM GLOBAL TECHNOLOGY OPERATIONS LLC · US
• The United States of America as represented by the Administrator of the National Aeronautics and Space Administrator · US
• Oceaneering Space Systems · US

Inventors

• Jianying Shi · Oakland Charter Township, US
• Brian Hargrave · Dallas, US
• Myron A. Diftler · Houston, US

Key dates

• Filing date: Aug 11, 2011
• Grant date: Jun 30, 2015
• Expiry date: Dec 29, 2032

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J15/0009
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.