A grasp planning approach for visual servo controlled robot manipulators

Robotic visual servoing holds a great promise for providing flexible robotic systems. This paper introduces a grasp planning approach for visual servo controlled robots with a single camera mounted at the end-effector. Sensory-control, mechanical, and geometrical issues in the design of such an automatic grasp planner are discussed and the corresponding constraints are highlighted. Also some quality measures are introduced to rate the candidate grasps. The grasp planning strategy and its implementation are described. Simulation results are presented to verify the effectiveness of the approach in dealing with dynamic situations, e.g. grasping a moving object