Title:
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Grasp analysis and synthesis of 2D articulated objects with n links
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Author:
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Alvarado Tovar, Noé; Suárez Feijóo, Raúl
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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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. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robot hands -Grasping -Force-closure grasps -Grasp analysis -Grasp synthesis -FORM-CLOSURE GRASPS -POLYGONS -Mans mecàniques |
Rights:
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Document type:
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Article - Submitted version Article |
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