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Grasp analysis and synthesis of 2D articulated objects with n links

Autor
Alvarado, N.; Suarez, R.
Tipus d'activitat
Article en revista
Revista
Robotics and computer-integrated manufacturing
Data de publicació
2015-02-01
Volum
31
Pàgina inicial
81
Pàgina final
90
DOI
https://doi.org/10.1016/j.rcim.2014.08.007 Obrir en finestra nova
Projecte finançador
Prensión y manipulación diestra, móvil y cooperativa
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistema multi-mano para tareas complejas de manipulación robotizada
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Repositori
http://hdl.handle.net/2117/26694 Obrir en finestra nova
Resum
This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a...
Citació
Alvarado, N.; Suarez, R. Grasp analysis and synthesis of 2D articulated objects with n links. "Robotics and computer-integrated manufacturing", 01 Febrer 2015, vol. 31, p. 81-90.
Paraules clau
FORM-CLOSURE GRASPS, Force-closure grasps, Grasp analysis, Grasp synthesis, Grasping, POLYGONS
Grup de recerca
SIR - Service and Industrial Robotics

Participants

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