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Grasp synthesis of 3D articulated objects with n links

Author
Alvarado, N.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
21st IEEE International Conference on Emerging Technologies & Factory Automation
Date of publication
2016
Presentation's date
2016-09
Book of congress proceedings
21th IEEE Conference on Emerging Technologies and Factory Automation (ETFA): September 6-9, 2016, Berlin
First page
1
Last page
6
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ETFA.2016.7733736 Open in new window
Repository
http://hdl.handle.net/2117/99683 Open in new window
Abstract
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 ...
Citation
Alvarado, N., Suarez, R. Grasp synthesis of 3D articulated objects with n links. A: IEEE International Conference on Emerging Technologies and Factory Automation. "21th IEEE Conference on Emerging Technologies and Factory Automation (ETFA): September 6-9, 2016, Berlin". Berlin: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 1-6.
Keywords
3D articulated object grasp synthesis problem, fixtures, flexible structures, force-closure grasp, frictional contact, generalized wrench space, industrial robots, n links, nonfrictional contact
Group of research
SIR - Service and Industrial Robotics

Participants