Computation of Intersection Regions of Robotic Gripper and Deformable Object Surfaces During Grasp Planning and Simulation

The study tested methods for detecting and computing the intersection regions of robotic gripper and deformable object surfaces during the grasp planning and simulation. We suggest an algorithm for detection and computation of the intersection regions comprising both broad and narrow phases. The broad phase algorithm is based on the bounding box method and is improved by introducing the original algorithm for detecting areas of potential interaction between the gripper and the object. The narrow phase algorithm is novel. It uses the nearest neighbor search methods and considers the movement direction of interacting bodies. As a result of our research, we developed a computer program and carried out experiments to analyze the efficiency of the proposed algorithms for the grasp planning with the 3-finger robotic hand Schunk SDH.

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