Title:
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Searching force-closure optimal grasps of articulated 2D 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 method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, thus it may have any shape. The proposed approach finds, first, an initial force-closure grasp and from it starts an iterative search of a local optimum grasp. The quality measure considered in this work is the largest perturbation wrench that a grasp can resist with independence of the direction of the perturbation. The approach has been implemented and some illustrative examples are included in the article. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robot hands -Force closure grasps -grasp quality measure -optimal grasp. -Mans mecàniques |
Rights:
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Document type:
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Article - Published version Conference Object |
Published by:
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International Federation of Automatic Control (IFAC)
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