AUTOMATIC GRASP PLANNING FOR MULTIFINGERED ROBOT HANDS

被引：7

作者：

WOHLKE, G ^{[1
]}

机构：

[1] UNIV KARLSRUHE,FAC INFORMAT,INST REAL TIME COMP CONTROL SYST & ROBOT,W-7500 KARLSRUHE,GERMANY

来源：

JOURNAL OF INTELLIGENT MANUFACTURING | 1992年 / 3卷 / 05期

关键词：

DEXTEROUS MULTIFINGER HANDS; OBJECT-TASK-BASED PROGRAMMING; PARAMETER PLANNING METHOD; KNOWLEDGE REPRESENTATION TECHNIQUE; GRASP POINT SELECTION; GRASP FORCE COMPUTATION; TASK INTERPRETATION; PEG-IN-HOLE INSERTION; CONSTRAINT PROPAGATION;

D O I：

10.1007/BF01577271

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper the development of a planning environment is described which was especially tailored for grasping and manipulating with multifinger robot hands. The research has been concerned with the programming and simulation system of the Karlsruhe dextrous hand, which has been in development for two years. The work presents the result of a geometric-mechanic approach to the object-handling problem with dextrous multifinger hands by selecting grasp points and searching grasp forces to perform desired assembly tasks. The knowledge representation for the sequence planning and command execution is based on object and task restrictions combined with routines for successive optimization and a constraint propagation algorithm.

引用

页码：297 / 316

页数：20

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