Grasp Synthesis of 3D Articulated Objects with n Links

被引：0

作者：

Tovar, Noe Alvarado ^{[1
]}

Suarez, Raul ^{[2
]}

机构：

[1] Inst Tecnol Super Lerdo, Cd Lerdo, Dgo, Spain

[2] Univ Politecn Cataluna, Inst Ind & Control Engn IOC, Barcelona, Spain

来源：

2016 IEEE 21ST INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) | 2016年

关键词：

CLOSURE GRASPS; ALGORITHM;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a finite set of points. First, the article presents a methodology to represent the generalized wrench space for an articulated 3D object with n links. This wrench space is generated by the forces applied on the links of the articulated object. Second, the algorithm that finds the set of points which allow a force-closure grasp using the generalized wrench space is described. The approach has been implemented and some illustrative examples are included in the paper.

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页数：6

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