Ben-Gurion University of the Negev Research and Development Authority

Tel Aviv University

Avishai Sintov

Amir Shapiro

Noam Nahum

The invention relates to a method for determining a grasp set of n gripping points for a common end effector of a robot, said end effector being used for grasping a plurality of parts, each part having its own geometry, the method comprises: (a) providing said plurality of parts in a CAD form; (b) meshing each of said parts; (c) determining for each of said parts all the possible grasps that are capable of holding the respective part by any k-contacts points end effector; (d) calculating a quality measure for each of said determined grasps; (e) calculating an allowable range for said calculated quality measures; (f) for each part, parametrizing each of its grasps that are found to be within said allowable range, by a feature vector; (g) performing a cross-part intersection between said grasps that are found to be within said allowable range, and determining those grasps that are intersected between parts; and (h) from among said intersected grasps, selecting a single grasp having a highest quality measure, said selected grasp is used for grasping said plurality of parts by said end effector.

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Beer Sheva, Israel

Avishai Sintov