Regrasp planner using look-up table

K. Cho, M. Kim, C. Lee, J. B. Song

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

A pick-and-place operation in 3-dimensional environment is basic operation for human and multipurpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table, planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

Original languageEnglish
Pages1981-1986
Number of pages6
Publication statusPublished - 2000
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period00/10/3100/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Cho, K., Kim, M., Lee, C., & Song, J. B. (2000). Regrasp planner using look-up table. 1981-1986. Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.