FINDING THE BEST GRASPING POINT IN OBJECT MANIPULATION TASKS - A Comparison between GA and PSO Methods

Hamed Mesgari, Farzad Cheraghpour, S. Ali A. Moosavian

Abstract

Grasp planning is one of the most interesting subjects of object manipulation tasks in robotics and the development of grasp methods would be affected the robot performance. One of the most important subjects which is discussed in grasp planning, especially in industrial applications, is optimal grasp planning and finding the best grasping point. So it is important to find the best grasping point that the manipulator contact with object. In this paper, the MAG performance index, which is designed for object manipulation tasks, would be used for two different types of objects which are manipulated in the predefined path. Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) methods would be used to maximize this index and find the best grasping point and finally compared with each other. The results show that in faster object manipulation tasks, the GA method is more suitable than PSO method. Since in accurate object manipulation tasks, the PSO method is preferred to GA method.

References

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Paper Citation


in Harvard Style

Mesgari H., Cheraghpour F. and Ali A. Moosavian S. (2011). FINDING THE BEST GRASPING POINT IN OBJECT MANIPULATION TASKS - A Comparison between GA and PSO Methods . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 199-204. DOI: 10.5220/0003532001990204


in Bibtex Style

@conference{icinco11,
author={Hamed Mesgari and Farzad Cheraghpour and S. Ali A. Moosavian},
title={FINDING THE BEST GRASPING POINT IN OBJECT MANIPULATION TASKS - A Comparison between GA and PSO Methods},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={199-204},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003532001990204},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FINDING THE BEST GRASPING POINT IN OBJECT MANIPULATION TASKS - A Comparison between GA and PSO Methods
SN - 978-989-8425-75-1
AU - Mesgari H.
AU - Cheraghpour F.
AU - Ali A. Moosavian S.
PY - 2011
SP - 199
EP - 204
DO - 10.5220/0003532001990204