Vision-Based Caging Grasps of Polyhedron-Like Workpieces With a Binary Industrial Gripper

Development of a flexible low-cost robotic system to grasp various 3D workpieces is of practical important. Traditional approaches on 3D grasping usually need to compute the effective contact positions based on sufficient conditions, such as “force-closure” or “form-closure,” to prevent all the motions of the grasped objects. Compared with the previous work motivated by high-precision applications, caging provides a way to manipulate an object without needing to immobilize it. However, most caging conditions consider only 2D motions of the object in grasping. In some cases, other motions in 3D space, e.g., the pitch and roll rotations of the objects, would also possibly change a caging configuration to an uncaging configuration. This paper aims to discuss caging with frictionless contact, by taking into consideration of all the motions of the object. We first discuss the relationship between the gripper configuration and the state of the grasped object in grasping, where all the motions of the object are taken into account. We then establish the sufficient conditions to find a set of 3D caging configurations in terms of the width of the object's projection and the gap of the gripper, such that we can utilize the projection to find the feasible placements of the pins to determine the caging configuration. Furthermore, we discuss how to find the caging configuration that is capable of leading to a form-closure based on attractive region formed in the configuration space.