TY - GEN
T1 - Optimal Grasping Pose Selection Method for Dual-arm Robot Based on Improved Genetic Algorithm
AU - Tao, Yong
AU - Wan, Jiahao
AU - Liu, Haitao
AU - Gao, He
AU - Wen, Yufang
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Dual-arm robot has been widely used in industry and service trades. It increases the degree of freedom within the workspace, while leading to more complex task planning problems. When setting goals for the dual-arm, it is a key issue to consider the impact of the setting of the goals on the complexity of the task. In this paper, an optimal grasping pose selection method has been proposed in order to select the optimal grasping pose of the dual-arm robot. This method uses an improved genetic algorithm. Facing the task of multi-objective optimization, the fitness function and gene reservation strategy can be adjusted automatically according to the iterative depth. Thereby, the coordinates and grasping pose of the arms on the object are obtained. The simulation experiment of dual-arm robot grasping slender objects was carried out. The results show that it has a better performance in symmetry of grasping points, position variation and synchronization of dual-arm robot.
AB - Dual-arm robot has been widely used in industry and service trades. It increases the degree of freedom within the workspace, while leading to more complex task planning problems. When setting goals for the dual-arm, it is a key issue to consider the impact of the setting of the goals on the complexity of the task. In this paper, an optimal grasping pose selection method has been proposed in order to select the optimal grasping pose of the dual-arm robot. This method uses an improved genetic algorithm. Facing the task of multi-objective optimization, the fitness function and gene reservation strategy can be adjusted automatically according to the iterative depth. Thereby, the coordinates and grasping pose of the arms on the object are obtained. The simulation experiment of dual-arm robot grasping slender objects was carried out. The results show that it has a better performance in symmetry of grasping points, position variation and synchronization of dual-arm robot.
UR - https://www.scopus.com/pages/publications/85140723413
U2 - 10.1109/WRCSARA57040.2022.9903933
DO - 10.1109/WRCSARA57040.2022.9903933
M3 - 会议稿件
AN - SCOPUS:85140723413
T3 - Proceedings of the 4th WRC Symposium on Advanced Robotics and Automation 2022, WRC SARA 2022
SP - 120
EP - 126
BT - Proceedings of the 4th WRC Symposium on Advanced Robotics and Automation 2022, WRC SARA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th WRC Symposium on Advanced Robotics and Automation, WRC SARA 2022
Y2 - 20 September 2022
ER -