Manipulator-based grasping pose selection by means of task-objective optimisation

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dc.contributor.author Richards, D
dc.contributor.author Paul, G
dc.contributor.author Webb, S
dc.contributor.author Kirchner, N
dc.date.accessioned 2012-02-02T11:09:17Z
dc.date.issued 2010
dc.identifier.citation Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010, 2010
dc.identifier.isbn 9780980740417
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/16450
dc.description.abstract This paper presents an alternative to inverse kinematics for mobile manipulator grasp pose selection which integrates obstacle avoidance and joint limit checking into the pose selection process. Given the Cartesian coordinates of an object in 3D space and its normal vector, end-effector pose objectives including collision checking and joint limit checks are used to create a series of cost functions based on sigmoid functions. These functions are optimised using Levenberg-Marquardt's algorithm to determine a valid pose for a given object. The proposed method has been shown to extend the workspace of the manipulator, eliminating the need for precomputed grasp sets and post pose selection collision checking and joint limit checks. This method has been successfully used on a 6 DOF manipulator both in simulation and in the real world environment.
dc.title Manipulator-based grasping pose selection by means of task-objective optimisation
dc.type Conference Proceeding
dc.parent Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010
dc.journal.number en_US
dc.publocation Brisbane, Australia en_US
dc.publocation Sydney, Australia
dc.identifier.startpage 1 en_US
dc.identifier.endpage 9 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.conference Association of Industrial Relations Academics of Australia and New Zealand
dc.conference Proceedings of the Australasian Conference on Robotics and Automation
dc.for 090602 Control Systems, Robotics and Automation
dc.personcode 998260
dc.personcode 101395
dc.personcode 998406
dc.percentage 100 en_US
dc.classification.name Control Systems, Robotics and Automation en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom Proceedings of the Australasian Conference on Robotics and Automation en_US
dc.date.activity 20101201 en_US
dc.date.activity 2010-02-03
dc.date.activity 2010-12-01
dc.location.activity Brisbane, Queensland, Australia en_US
dc.location.activity Sydney, Australia
dc.description.keywords NA en_US
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
utslib.collection.history General (ID: 2)


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