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Open AccessArticle

Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems

1
LINEACT Laboratory, EA 7527, CESI ROUEN, 76800 Saint-Étienne-du-Rouvray, France
2
CNRS, SIGMA Clermont, Institut Pascal, Université Clermont Auvergne, F-63000 Clermont-Ferrand, France
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(23), 8736; https://doi.org/10.3390/app10238736
Received: 17 October 2020 / Revised: 29 November 2020 / Accepted: 30 November 2020 / Published: 6 December 2020
In the grasping and manipulation of 3D deformable objects by robotic hands, the physical contact constraints between the fingers and the object have to be considered in order to validate the robustness of the task. Nevertheless, previous works rarely establish contact interaction models based on these constraints that enable the precise control of forces and deformations during the grasping process. This paper considers all steps of the grasping process of deformable objects in order to implement a complete grasp planning pipeline by computing the initial contact points (pregrasp strategy), and later, the contact forces and local deformations of the contact regions while the fingers close over the grasped object (grasp strategy). The deformable object behavior is modeled using a nonlinear isotropic mass-spring system, which is able to produce potential deformation. By combining both models (the contact interaction and the object deformation) in a simulation process, a new grasp planning method is proposed in order to guarantee the stability of the 3D grasped deformable object. Experimental grasping experiments of several 3D deformable objects with a Barrett hand (3-fingered) and a 6-DOF industrial robotic arm are executed. Not only will the final stable grasp configuration of the hand + object system be obtained, but an arm + hand approaching strategy (pregrasp) will also be computed. View Full-Text
Keywords: 3D deformable object; grasping; robust manipulation; robot hand 3D deformable object; grasping; robust manipulation; robot hand
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MDPI and ACS Style

Zaidi, L.; Corrales Ramon, J.A.; Sabourin, L.; Bouzgarrou, B.C.; Mezouar, Y. Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems. Appl. Sci. 2020, 10, 8736. https://doi.org/10.3390/app10238736

AMA Style

Zaidi L, Corrales Ramon JA, Sabourin L, Bouzgarrou BC, Mezouar Y. Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems. Applied Sciences. 2020; 10(23):8736. https://doi.org/10.3390/app10238736

Chicago/Turabian Style

Zaidi, Lazher; Corrales Ramon, Juan A.; Sabourin, Laurent; Bouzgarrou, Belhassen C.; Mezouar, Youcef. 2020. "Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems" Appl. Sci. 10, no. 23: 8736. https://doi.org/10.3390/app10238736

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