Patent ID: 9283676
Filing Date: 2016-03-15
CPC Classification: B25J,G05B

Claim Text:
1. A method of determining an optimal grasp pose of an object by an end-effector of a robot in the execution of a task, the method comprising: receiving a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector grasp force; calculating a grasp wrench in the frame of reference of the task wrench; rotating and shifting the grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced, wherein the task wrench and the grasp wrench are optimally balanced when the sum of the task wrench and the grasp wrench is minimized; recording the optimal grasp pose in memory of the controller as the grasp pose at which the grasp wrench and the task wrench are optimally balanced; and executing a control action via the controller using the recorded optimal grasp pose.