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Plannification des prises pour la manipulation robotisée

Belkacem Bounab 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This thesis proposes a new approach for grasp analysis. Based on the theory of central axes of grasp wrench, we developed a new necessary and sufficient condition for n-finger grasps to achieve force-closure property. For n-finger planar grasps, we proposed a new graphical method for testing force-closure of arbitrary planar objects. The proposed geometric algorithm is very simple and requires low computational complexity. Thus, it can be used in real-time implementations and reduce significantly the computational cost compared to linear programming schemes. Further, based on friction-cone linearization, we formalized quantitative test of planar and spatial n-fingered force-closure grasps as a new linear programming problem. The proposed quantitative force-closure test offers a good metric of quality measurement without need to compute the convex hull of the primitive contact wrenches in $\Bbb{R}^{6}$, which efficiently reduces the amount of computational time. Implementations were performed on ''Move3D'' and ''GraspIt'' simulation environments. For grasp synthesis, we formulated the computation of fingertips locations problem as an optimization problem under constraints. Furthermore, we presented an approach for finding appropriate stable grasps for a robotic hand on arbitrary objects. We used simulated annealing technique to synthesize suboptimal grasps of 3D objects. Through numerical simulations on arbitrary shaped objects, we showed that the proposed approach is able to compute good grasps for multifingered hands within reasonable computational time. The proposed grasp planner was implemented on "GraspIt'' simulator.
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Contributor : Arlette Evrard <>
Submitted on : Wednesday, October 5, 2011 - 2:06:20 PM
Last modification on : Thursday, June 10, 2021 - 3:03:03 AM
Long-term archiving on: : Friday, January 6, 2012 - 2:30:23 AM


  • HAL Id : tel-00629228, version 1


Belkacem Bounab. Plannification des prises pour la manipulation robotisée. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2011. Français. ⟨tel-00629228⟩



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