The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 03, 2019
Filed:
Sep. 11, 2013
Ben-gurion University of the Negev Research & Development Authority, Beer Sheva, IL;
Amir Shapiro, Metar, IL;
Avishai Sintov, Beer Sheva, IL;
BEN-GURION UNIVERSITY OF THE NEGEV & DEVELOPMENT AUTHORITY, Beer Sheva, IL;
Abstract
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.