Motion planning for smooth pickup of moving objects

Abstract

Abstract-Kinematic planning for robotic arms has been shown to be capable of planning for robust manipulation of static objects. However, this approach falls short when manipulating moving objects such as picking up a jar off of a conveyor belt at a bottling plant. The challenge in carefully picking up moving objects is that these actions require motions that do not involve large decelerations, to avoid jerking the object, as well as figuring out the proper time in which the object can be picked up. We present a search-based kinodynamic motion planning algorithm that generates a timeparameterized trajectory for both the arm and end-effector, capable of carefully picking up the object at the earliest feasible point in its trajectory. To combat the high-dimensionality of the time-parameterized kinodynamic planning problem, our approach employs informative heuristics and adaptive dynamic motion primitives. To validate our approach, we used a 7DOF manipulator on Willow Garage's PR2 robot to pickup objects off of a conveyor belt. We also provide a detailed set of results that demonstrate the planner's ability to generate consistent, low cost trajectories for manipulation.

Provably constant-time planning and replanning for real-time grasping objects off a conveyor belt

“…Furthermore, their method is probablistically complete and, therefore, does not offer constant-time behavior. Graphsearch based approaches have also been used for the motion-planning problem (Cowley et al, 2013;Menon et al, 2014). The former uses a kinodynamic motion planner to smoothly pick up moving objects, i.e., without an impactful contact.…”

“…These primitives correspond to the actual grasping of the object while it is moving. The dynamic primitives are generated by using a Jacobian pseudo inverse-based control law similar to what Menon et al (2014) used. The desired velocity of the end-effector is computed for which the end-effector minimizes the distance to the grasp pose.…”

Gripper Finger Design for Automatic Bottle Opener

“…Kinematic plan for conventional industrial robotic arms are capable of moving the static object manipulation. However, there is a trouble when moving object manipulation such as a smooth picking up a bottle and a grasping motion [10]. Our inspiration of this research came from the Japanese news that the Japanese owner of restaurants and shops are struggling to hire staff in an aging society.…”

CAD-based pose estimation for random bin-picking of multiple objects using a RGB-D camera

“…generated workpieces databaseby using 3D CAD model, and a Hough-like voting scheme was set up to recognize three different components [7]. In [8], a method was proposed to pick up the earliest feasible point of moving objects using a search-based algorithm. Atanasov et.…”