7.1 Conclusions
The aim of this thesis was to grasp arbitrary objects. Grasping an object is simple to human. A human can control his own hand in anywhere in the workspace. It means that human fully understands human arm-hand kinematics. The eyes provide the information about the object, and human can predict mostly all surfaces of an object according to experience. As long as an object is to be grasped, a human can determine the grasp configuration by experience, and quickly plan a collision-free path to move the arm-hand without colliding. Finally according to the feeling of skin, a human can precisely control the wrench on the object, and let the grasp successfully.
To understand the robot configuration in space, the robot kinematics helps to solve the forward kinematics and inverse kinematics. The depth sensor acting as human eyes can obtain the real world information. According to the point cloud processing, we can define the collision shape of the object. The quality measure is a convenient method to determine the grasp type. And the RRT-Connect can plan a collision-free path. Finally, the control can make the grasp successfully.
Grasping consists of many complex steps which can be solved by different field methods in different fields. Integrating these methods and putting them into practice is the goal of the thesis.
7.2 Future Works
This thesis proposed a platform to solve the grasping problem with simple algorithms. More advanced algorithms can improve the entire process of grasping. The quality measure is a method to score a grasp from physical viewpoint. Recently, more researches used machine learning to replace the quality measure. In path planning RRT*
or other algorithms may provide better result than RRT-Connect algorithm. Advanced 3D vision algorithms and 3D object reconstruction algorithm can be further discussed and applied to the object reconstruction.
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