Real-time robotic grasp planning

A robotic system comprising:

• a robot having an end-effector;
• and
• a controller having a processor and tangible, non-transitory memory on which is recorded instructions for determining an optimal grasp pose of an object by the end-effector in the execution of a task;
• wherein execution of the instructions by the processor causes the controller to:
• receive a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector force;
• calculate a grasp wrench in the frame of reference of the task wrench;
• rotate and shift the grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced, wherein the task wrench and the grasp wrench are optimally balanced when the sum of the task wrench and the grasp wrench is minimized;
• record the optimal grasp pose in the memory as the grasp pose at which the grasp wrench and the task wrench are optimally balanced;
• and
• execute a control action using the recorded optimal grasp pose.