CPC B25J 9/1669 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1671 (2013.01); B25J 13/082 (2013.01); B25J 13/085 (2013.01)] | 18 Claims |
1. A method for determining the position, motion, and force settings for a robotic manipulator, the method comprising:
classifying a deformable object model as one of a fully solid object model, ring-like object model, open container object model, and hollow object model;
for at least one grasping model of a plurality of candidate grasping models of the deformable object:
generating a simulation of a response of the deformable object to the grasping model, the simulation comprising:
initializing the deformable object model at rest atop a horizontal plane;
disabling collisions with the horizontal plane;
generating a set of candidate grasps on an aligned bounding box; and
recording pre-contact nodal positions and element stresses of the deformable object model;
obtaining, from the simulation, grasp performance metrics for stress, deformation controllability, and instability of the response to the grasping model; and
correlating the grasp performance metrics with robotic grasping features of the robotic manipulator;
identifying a conforming model of the grasping models, the conforming model comprising robotic grasp features of the robotic manipulator that meet manipulation constraints of the deformable object; and
operating a robotic manipulator path planner to transform the robotic grasp features into the position, motion, and force settings for the robotic manipulator.
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