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

Claim 0:
1. A method for generating a grasp database for use by a robotic grasping system, said method comprising:
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, using a computer having a processor and memory, 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.