Tham khảo tài liệu 'vision systems - applications part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 31 Active Vision based Regrasp Planning for Capture of a Deforming Object using Genetic Algorithmss function values indicated that solution a with function value of iteration 5000 and number of gains before stop 200 is better than solution b with function value iteration 1000 number of gains before stop 100 . The solutions were obtained in 6 seconds and 2 seconds respectively. Hence it is possible to obtain faster solutions in real time by dynamically tuning the GA parameters based on required function value or number of iterations and also using a faster computer for running the algorithm. It is however not clear how the function value varies with different shapes and parameter values. In future we hope to study how to adjust the GA parameters dynamically to obtain the fastest solutions in real time. a Figure 9. a-b Finger points for the same object for different functional values b 7. Conclusion The main contributions of this research are an effective vision based method to compute the optimal grasp points for a 2D prismatic object using GA has been proposed. The simulation and experimental results prove that it is possible to apply the algorithm in practical cases to find the optimal grasp points. In future we hope to integrate the method in a multifinger robotic hand to grasp different types of deforming objects autonomously. 8. References Bicchi A. Kumar V. 2000 . Robot Grasping and Control A review Proceedigns of the IEEE International Conference on Robotics and Automation pp. 348-353 ISSN 1050 4729. Blake A. 1995 . A symmetric theory of planar grasp The International Journal of Robotics Research vol. 14 no. 5 pp. 425-444 ISSN 0278-3649. Chinellato E. Fisher . Morales A. del Pobil A. P. 2003 . Ranking planar grasp configurations for a three finger hand Proceedings of the IEEE International Conference on Robotics and Automation pp. 1133-1138 ISSN 1050 4729. Gatla C. Lumia R. Wood J. Starr G. 2004 . An efficient method to compute three .
