Abstract
Canny and Goldberg [1] observe that in structured robot environments such as a factory, parts manipulation with general purpose robots equipped with complex sensing and control features is often unnecessary. Instead they propose a reduced intricacy in sensing and control (RISC) approach using simple, inexpensive, robust and easily reconfigurable systems. Such systems often have the additional theoretical advantage that planning and control algorithms are simple and provably correct.
The parallel-jaw gripper is probably the RISC manipulator. This paper considers the parallel-jaw gripper for grasping objects in the plane. Under the right set of assumptions, all of which are realizable in the real world, the problem of grasping an object can be viewed in geometric terms alone. We give an algorithm to compute the “grasp function,” a map from the initial pre-grasp orientation of a part to its final orientation after the grasp, from the geometric description of the part boundary. The grasp function is used to plan open-loop grasps of the object in a particular orientation.
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© 1994 Springer Science+Business Media Dordrecht
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Rao, A.S. (1994). Geometry of Parallel-Jaw Gripper Grasps in the Plane. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_9
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DOI: https://doi.org/10.1007/978-94-015-8348-0_9
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