The Geometric Reasoning Algorithm for Grasping Posture of Intelligent Robot

@inproceedings{Hongjuan2004TheGR,
  title={The Geometric Reasoning Algorithm for Grasping Posture of Intelligent Robot},
  author={Zhou Hong-juan},
  year={2004}
}
In this paper, a geometric reasoning algorithm for grasping planning of intelligent robot is introduced.Based on the geometric model of plane polyhedron of object,this algorithm can search out all possible collision-free grasping parameters(i.e vectors of position, approach and orientation and opening distance) by analysing the space relationship among the geometric items (i.e face, edge and vertex). According to the heuristic information of grasping stability and the center-of-gravity position… CONTINUE READING

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