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

页码：81 / 90

页数：10

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