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Optimal Grasping Pose Synthesis in a Constrained Environment

2020; Multidisciplinary Digital Publishing Institute; Volume: 10; Issue: 1 Linguagem: Inglês

10.3390/robotics10010004

2218-6581

Alessandro Altobelli, Ozan Tokatlı, Guy Burroughes, Robert Skilton,

Robotic Mechanisms and Dynamics

In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered environments, or environments with limited space for movement; therefore, it is of significant interest to identify grasping poses that are feasible within such constrained environments. In this paper, we present and experimentally evaluate a strategy to synthesise optimal grasps considering geometric primitives for a manipulation systems in a constrained environment. The novel strategy has been experimentally evaluated in a cluttered environment (as a glovebox mock-up) with realistic objects, and the efficacy of the proposed grasping algorithm is proposed.