Abstract
It is important for robots to obtain appropriate grasp positions autonomously to make stable grasps. This paper proposes an automatic generation algorithm for the optimum planar grasp based on grasp stability. The two-dimensional object shape is acquired using a camera. The object coordinate frame, surface curvature, normal direction angle are calculated from the image. By using these parameters, its grasp stability is evaluated. The optimum grasp is generated through the sequence of performance indices. By using our proposed method, robots are able to grasp an unknown shaped object autonomously. Effectiveness of our method is demonstrated through numerical examples.
