摘要
本文介绍一个基于几何模型的抓取规划系统RGPS。该系统的核心是一个几何推理机,它采用稳定性准则作为启发信息,自动实现抓取规划。在CRT上用三维图形显示抓取规划的结果。
This paper describes a robot grasp planning system (RGPS) based on the geometric model of target object. Its main part is a geometric inference mechanism (GIM).The stability rule is adopted which acts as the heuristic information of GIM . Grasp planning is realized by RGPS automatically, and the 3-D grasping result is displyed on CRT.
基金
国家自然科学基金
关键词
几何模型
机器人
手爪
抓取规划
geometric model,robot
gripper, grasp planning,geometric inference mechanism
