Modeling Simulation and Analysis of Grasping Pose for

Novel Objects

Ref Id : 7590

Presented by
Dhanasekar J
Research Scholar
Department of Mechatronics
Bharath University
Chennai-600073
 Contents
Objectives
Problems in Grasping of Novel Objects
Literature review
Proposed System
Design of Robot
Design of End Effector
Modeling Environment
Simulation Environment
Grasp point identification
Grasp point Detection
Grasping pose
Conclusion
Drawback
 Objectives
To model and simulate a suitable grasping pose for grasping
the novel object.
The objective of the work is to grasp unknown objects by
determining the centre of mass and dimensions of the object
with the help of MATLAB.
 Problems in Grasping of Novel
Objects
Normally robots were preprogrammed to grasp different
objects.
If unknown objects (Novel Objects)are present to grasp ,the
end effector may damage while grasping or not pick up the
object .
To overcome the above problem suitable pickup points to be
chosen for grasping novel object.
Literature review
S.No Publication Details Inference
D. Song, K. Huebner, V. Kyrki, The research of object grasping and
and D. Kragic, Learning Task manipulation becomes formidable
Constraints for Robot Grasping challenging area .
1 using Graphical Models, in
IROS, 2010, pp. 1579-1585

A Boularias et al., Learning In unstructured environments, familiar

Robot Grasping from 3-D
Images with Markov Random
2 Fields, 2011 IEEE/RSJ
International Conference on
Intelligent Robots and Systems.
types of objects may contain a variety of
shapes and sizes.
Even though there exist these variations,
humans can learn how to grasp objects by
few numbers of examples and generalize the
learned skills to grasp novel objects.

5
Literature review
Sl.N Publication Details Inference
o
B. Wang, L. Jiang, J. LI, H. Cai, Grasping
Grasping planning can be
unknown objects based on 3D model
classified into knowledge
reconstruction, Advanced Intelligent
Mechatronics. Proceedings, 2005
based, behavior based and
3 IEEE/ASME International Conference on model based methods.
(2005) pp. 461 466. In this paper, knowledge based
grasping has been used.

A. Miller et al., From robotic hands to Realistic simulation can be used

human hands: a visualization and
simulation engine For grasping research,
to learn about grasping if the
Industrial Robot: An International Journal computer hardware model
4 32/1 (2005) 5563, Emerald Group developed is better.
Publishing Limited [ISSN 0143-991X]

6
 Proposed System
To grasp the novel object,Grasp planning and
pickup points are to be identified.
To plan the Grasp pose for a manipulator with the
help of D-H Matrix.
To perform the above task MATLAB is used.
Mechanical design of the robot is done in CREO
and imported to MATLAB for Simulation.
 Design of Robot
Twisting Rotation Linear and Rotation (TRLR) robot with
Barett hand is modeled using creo parametric 2.0 and the
fig is shown below.
 Design of End Effector
Barrett hand is used as end effector.
It consists of disc and 3 fingers.
The modeling of rotating disc,Links,Assembled view Barrett
hand in the CREO software is shown below.

Rotating Assembled View Barett

disc hand of
rotation
view
 Modeling Environment
The modeling of objects with barrett hand is done using creo
parametric 2.0 and is shown below.
 Simulation Environment
The Creo parametric 2.0 model is imported into MATLAB and
the center of mass is calculated for the novel objects.
Fig below shows the simulation of robot grasping setup for
grasping novel objects.
 Grasp point identification
The grasp point identification is been carried out in following
steps:
DATA PRE-PROCESSING
CAMERA
PROCESSING
GRASP POINT IDENTIFICATION
 Grasp point detection
The grasp point detection finds the surface of all models with
a definite threshold and generates a 2D information.
The rim points and edges of the object are collected from the
above details.
Then the centre of mass for every object is calculated .
 Grasping pose
Grasp pose can be done by D-H transformation.
Robot has been trained to pick the known objects
as per shape primitives.
Every different object can have some similar
subparts.
If novel object is present, check the already
programmed database to match the shape
primitives of novel object with already stored data.
Whichever shape primitives closely matches to the
known object, the same grasp pose is use to pick
the object.
 Conclusion
Based on the camera image and the image processing
techniques the dimensions and shape of the object is
calculated. From the dimensions and shape results,
suitable grasp points are generated successfully.
Now the grasp points are given as inputs to the TRLR
robot. Based on the DH matrix results inverse kinematics
are calculated which gives the joint angles for the TRLR
robot. All these practices are performed using MATLAB
simulation.
 Drawback
This system suits only for rigid bodies. This
method does not fit to deformable objects i.e.
objects which change its shape, dimensions and
mass with respect to time.
THANK YOU