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

被引：3
|
作者：
Alvarado Tovar, Noe [1 ]
Suarez, Raul [1 ]
机构：
[1] Univ Politecn Cataluna, Inst Org & Control Sistemes Ind IOC, Barcelona, Spain
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2015年 / 31卷
关键词：
Grasping; Force-closure grasps; Grasp analysis; Grasp synthesis; FORM-CLOSURE GRASPS;
D O I：
10.1016/j.rcim.2014.08.007
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
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 force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码：81 / 90
页数：10
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