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Complete and Rapid Regrasp Planning with Look-up Table

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Abstract

A pick-and-place operation in a 3-dimensional environment is a basic operation for humans and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final poses of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving the regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information on kinematically feasible task space of the end-effector throughout the entire workspace. Then, using this table, the planning automatically determines a possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. With a redundant robot, it is shown experimentally that the presented method is complete in the entire workspace and can be implemented in real-time applications due to rapid regrasp planning time. The regrasp planner was combined with an existing path.

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Authors and Affiliations

  1. Division of Mechanical Engineering, Dong-Seoul College, #423 Bokjeong-dong, Sujeong-gu, Seongnam, Gyeonggi, 461-714, South Korea

    Kyoungrae Cho

  2. KIST, Advanced Robotics Research Center, Hawolgokdong 39-1, Seungbuk-gu, Seoul, Korea

    Munsang Kim

  3. Department of Mechanical Engineering, Korea University, 5 ka, Anamdong, Sungbuk-ku, Seoul, Korea

    Jae-Bok Song

Authors
  1. Kyoungrae Cho
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  2. Munsang Kim
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  3. Jae-Bok Song
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Cho, K., Kim, M. & Song, JB. Complete and Rapid Regrasp Planning with Look-up Table. Journal of Intelligent and Robotic Systems 36, 371–387 (2003). https://doi.org/10.1023/A:1023690101296

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  • DOI: https://doi.org/10.1023/A:1023690101296

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