|
Title:
|
Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links
|
|
Author:
|
Alvarado Tovar, Noé; Suárez Feijóo, Raúl
|
|
Other authors:
|
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
|
Abstract:
|
This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with 2 and 3 links considering frictionless contacts. The boundary of each link of the object is represented with a finite set of points. The grasp analysis is carried out to verify
whether a set of contact points on the object boundary allows a force-closure grasp. The grasp synthesis implies
the determination of a set of contact points that allows a force-closure grasp. The paper describes how to find the elements of the generalized wrench vector generated
by a force applied on any link of the articulated object.
The approach have been implemented and some illustrative examples are included in the paper. |
|
Subject(s):
|
-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Manipulators (Mecanism)
-Manipuladors (Mecanismes) |
|
Rights:
|
|
|
Document type:
|
Article - Submitted version
Conference Object |
|
Share:
|
|
