Optimization of Stable Robotic Grasp in Industrial Pick and Place Application

The goal of the proposed work is to develop an algorithm to optimize a manipulation task in industrial pick and place process. A proposed algorithm for stable grasping is presented. It takes into consideration the number of robotic hand fingertips, an Finite Element Model (FEM) generated by a 3D CAD system and restricted areas (RA) that cannot be reached. The grasping configuration is determined under several criteria that ensure the object stability. One criterion is based on Static Stability Margin (SSM) that takes into consideration the position of object center of mass in the polygon of support and a second criterion based on the Force Closure Grasping (FCG) taking into consideration the contact forces applied by the robotic hand fingertips. The proposed optimization problem is based on Genetic Algorithms. The simulation results of the proposed work, applied to an industrial product, are presented for different number of contact points.