The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
Data(s) |
20/10/2004
20/10/2004
01/05/1990
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Resumo |
This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found in which the robot contacts the object at those contact points; and a path is constructed from the initial configuration of the robot to the stable, feasible final grasp configuration. The algorithm described in the report is designed for the Salisbury hand mounted on a Puma 560 arm, but a similar approach could be used to develop grasping systems for other robots. |
Formato |
93 p. 6334760 bytes 4424738 bytes application/postscript application/pdf |
Identificador |
AITR-1214 |
Idioma(s) |
en_US |
Relação |
AITR-1214 |
Palavras-Chave | #robotics #robot hands #grasp planning #stability #sfeasibility #motion planning |