Introduction

Scope

This document describes the operating procedures for “The hand grasp motion planning system” constructed during “The Research and development on robotic intelligence for in-house life support robots” conducted as part of the “Development Project for Intelligent Technologies for Next-Generation Robots.”

Relevant documents

The relevant documents are listed in the table below.

Target audience

This document targets developers of robotic systems that use RT Middleware (RTM) and RT Components (RTC) and assumes that they possess a general knowledge of RTM and RTC tools.

OpenRTM-aist Official Website
http://www.openrtm.org/

Software Installation

This module operates on Ubuntu10.04. OpenRTM-aist-1.0.0-RELEASE installation is a prerequisite for the module’s operation. Details on libraries, etc. are specified in the environment configuration specification. This document describes the installation procedure.

Standard operating environment

OpenRTM-aist-1.0.0 RELEASE (C++)

Install the RT middleware required for executing RTC, which is written in C++.

Use the installer script for Ubuntu. Open the C + + 1.0.0 version -RELEASE distribution page: http://www.openrtm.org/openrtm/ja/node/849 (as of 21st April, 2011) from the “OpenRTM-aist” download page. Download the batch installation script pkg_install_ubuntu.sh for Ubuntu from the list of Linux packages and run the same.

Compilation

Unzip and extract the “CGraspPlanComp.tar” files. Taking the generated “GraspPlan20100623” folder as the current directory, execute the following command.

 % make

Execution

Successful operation requires a component for acquiring information on the object's position and delivering it to this component. This module’s execution sequence is described below.

Invoking the module

Taking the extracted “GraspPlan20100623” folder as the current directory, execute the following command.

 % ./GraspPlannerComp

Input/Output Information

Send “grasp planning control orders” to Hand RTC using “GraspPlanningStart”. Acquire grasp motion patterns using “GraspPlanningResult.”

The inputs to “GraspPlanningStart” are the (i) Object ID and (ii) position & attitude measured by the visual sensors.

The output obtained from “GraspPlanningResult” are the hand position & attitude, approach position & attitude, opening and closing angles of the gripper, and presence or absence of a grasp pattern.

 void GraspPlanningStart (in unsigned long ObjId,
                          in DblSequence3 objPos,
                          in DblSequence9 objOri,
                          out unsigned long state);

 void GraspPlanningResult (in DblSequence3 GraspPos,
                           in DblSequence9 GraspOri,
                           in DblSequence3 ApproachPos,
                           in DblSequence9 ApproachOri,
                           in double angle,
                           in unsigned long state,
                           out unsigned long isContinue );