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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