Patent ID: 11919161
Assignee: FANUC CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 11:
12. A robotic grasp generation system comprising:
a computer having a processor and memory, said computer configured to generate a grasp database, including;
providing an object model including three-dimensional (3D) shape data for an object to be grasped, and a gripper model including 3D shape data and actuation parameters for a gripper,
receiving user specifications including a number of grasps to compute, and definition of preferred grasp regions on the object, prohibited grasp regions on the object, or both,
repeatedly performing an iterative optimization, where each optimization converges to a locally-optimum quality grasp while satisfying constraint equations which define surface contact without interference between the gripper and the object, avoid the prohibited grasp regions on the object and attract to the preferred grasp regions on the object, and
outputting data defining each of the quality grasps to the grasp database.