Research on two-stage grasping planning method for multifingered dexterous hand

Abstract

Purpose The purpose of this paper is to design a multifingered dexterous hand grasping planning method that can efficiently perform grasping tasks on multiple dexterous hand platforms. Design/methodology/approach The grasping process is divided into two stages: offline and online. In the offline stage, the grasping solution form is improved based on the forward kinematic model of the dexterous hand. A comprehensive evaluation method of grasping quality is designed to obtain the optimal grasping solution offline data set. In the online stage, a safe and efficient selection strategy of the optimal grasping solution is proposed, which can quickly obtain the optimal grasping solution without collision. Findings The experiments verified that the method can be applied to different multifingered dexterous hands, and the average grasping success rate for objects with different structures is 91.7%, indicating a good grasping effect. Originality/value Using a forward kinematic model to generate initial grasping points can improve the generality of grasping planning methods and the quality of initial grasping solutions. The offline data set of optimized grasping solutions can be generated faster by the comprehensive evaluation method of grasping quality. Through the simple and fast obstacle avoidance strategy, the safe optimal grasping solution can be quickly obtained when performing a grasping task. The proposed method can be applied to automatic assembly scenarios where the end effector is a multifingered dexterous hand, which provides a technical solution for the promotion of multifingered dexterous hands in industrial scenarios.