Regrasp planner using look-up table

K. Cho, M. Kim, C. Lee, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1981-1986
Number of pages6
Volume3
Publication statusPublished - 2000 Dec 1
Externally publishedYes
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

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Cho, K., Kim, M., Lee, C., & Song, J-B. (2000). Regrasp planner using look-up table. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1981-1986)