Solution:

The grasp-planning problem is determining the configuration for the robotic tool that produces a safe, reachable and secure grasp of the part at both ends of the path along which it is to be transported.

There are three types of grasp:

Safe grasp:

The robot must be safe at the initial grasp and final grasp configuration like a pick-and-place operation.

The part to be manipulated should not be in contact with any obstacles.

The robot or the object will be safe if it is moving along the GVD path.

Reachable grasp:

The robot should be within the workspace and the pick point should be reachable by the robot.

It is defined as the one which is within the work envelope of the manipulator and one for which a collision-free path to the grasp configuration is available.

For example, a gravity part feeder is a typical example of a reachable grasp.

Secured/Stable grasp:

It is defined as the one for which the object or the part will not move or slip during the part transfer.

The grasp should be stable during the transportation of the object from the pick point to the place point