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Determination of independent contact regions on discretized 3D objects
Roa Garzón, Máximo; Suárez Feijóo, Raúl
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
This paper deals with the problem of determining independent contact regions on a 3D object boundary such that a seven finger frictionless grasp with a contact point in each region assures a force-closure grasp on the object, independently of the exact position of the contact points. These regions provide robustness in front of finger positioning errors in grasp and fixture applications. The object’s surface is discretized in a cloud of points, so the procedure is applicable to objects of any arbitrary shape. The procedure finds an initial force-closure grasp that is iteratively improved through an oriented search procedure; once a locally optimum grasp has been reached, the independent contact regions are computed. The procedure has been implemented and application examples are included in the paper.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robotics
Grasp planning
Force-closure grasps
Independent contact regions
Sujeción
Prensió
Sujeción por fuerza
Subjecció per força
Regiones de contacto independientes
Regions de contacte independents
Robòtica -- Congressos
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers
         

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