Mastering ROS for Robotics Programming - Second Edition

Manipulating objects with MoveIt!

Manipulating objects is one of main usages of robotic arms. The capacity to pick up objects and place them in a different location of the robot's workspace is extremely useful both in industry and research applications. The picking process is also known as grasping, and represents a complex task because a lot of constraints are required to pick an object up in a proper way. Humans handle grasping operations using their intelligence, but robots need rules for it. One of the constraints in grasping is the approaching force; the end effector should adjust the grasping force for picking the object, but not make any deformation on the object while grasping. In addition, a grasping pose is needed to pick an object ...